128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 18660 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789080535.08037019 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789080535.68611073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.08sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2).[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058387 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058387 ms (missed cycles : 2).[0m ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal ×3066 + 6.60sINFOjoint_trajectory_controllerAccepted new action goal ×3066 + 6.60sINFOros2_control_nodeReceived new action goal[0m ×6132 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×6132 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349413 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349413 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141239 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141239 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138182 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138182 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549819 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549819 ms (missed cycles : 2).[0m ×2 + 10.67sWARNros2_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 + 11.43sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.43sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.43sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.43sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.43sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888202 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888202 ms (missed cycles : 5).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972422 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972422 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702284 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702284 ms (missed cycles : 2).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134488 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134488 ms (missed cycles : 2).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388272 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388272 ms (missed cycles : 2).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965350 ms (missed cycles : 5). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965350 ms (missed cycles : 5).[0m ×2 + 17.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086560 ms (missed cycles : 2). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086560 ms (missed cycles : 2).[0m ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602818 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602818 ms (missed cycles : 2).[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842403 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842403 ms (missed cycles : 2).[0m ×2 + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383235 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383235 ms (missed cycles : 3).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786797 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786797 ms (missed cycles : 2).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391695 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391695 ms (missed cycles : 2).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983995 ms (missed cycles : 5). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983995 ms (missed cycles : 5).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793688 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793688 ms (missed cycles : 2).[0m ×2 + 25.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732599 ms (missed cycles : 2). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732599 ms (missed cycles : 2).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111017 ms (missed cycles : 7). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111017 ms (missed cycles : 7).[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116128 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116128 ms (missed cycles : 2).[0m ×2 + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676098 ms (missed cycles : 2). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676098 ms (missed cycles : 2).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800142 ms (missed cycles : 2). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800142 ms (missed cycles : 2).[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714148 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714148 ms (missed cycles : 2).[0m ×2 + 31.72sWARNros2_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 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325618 ms (missed cycles : 2). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325618 ms (missed cycles : 2).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053370 ms (missed cycles : 2). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053370 ms (missed cycles : 2).[0m ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061920 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061920 ms (missed cycles : 2).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822482 ms (missed cycles : 2). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822482 ms (missed cycles : 2).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789246 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789246 ms (missed cycles : 2).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834036 ms (missed cycles : 2). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834036 ms (missed cycles : 2).[0m ×2 + 38.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724749 ms (missed cycles : 3). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724749 ms (missed cycles : 3).[0m ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833574 ms (missed cycles : 3). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833574 ms (missed cycles : 3).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142351 ms (missed cycles : 2). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142351 ms (missed cycles : 2).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259010 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259010 ms (missed cycles : 2).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384246 ms (missed cycles : 4). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384246 ms (missed cycles : 4).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.638358 ms (missed cycles : 7). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.638358 ms (missed cycles : 7).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694369 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694369 ms (missed cycles : 2).[0m ×2 + 45.64sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814966 ms (missed cycles : 2). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814966 ms (missed cycles : 2).[0m ×2 + 46.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080579.59504962 seconds ×3 + 46.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679779 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679779 ms (missed cycles : 3).[0m ×2 + 47.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.36sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789080580.23506689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.60sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 47.61sINFOros2_control_node[2026-09-10 22:49:40.389] [info] Received new action goal ×2 + 47.61sINFOros2_control_node[2026-09-10 22:49:40.389] [info] Accepted new action goal ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957774 ms (missed cycles : 5). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957774 ms (missed cycles : 5).[0m ×2 + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099924 ms (missed cycles : 2). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099924 ms (missed cycles : 2).[0m ×2 + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844679 ms (missed cycles : 2). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844679 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.4s | 154 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-10 22:48:03.759] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-10 22:48:03.759] [info] Accepted new action goal ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328689 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328689 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572315 ms (missed cycles : 4). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572315 ms (missed cycles : 4).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022656 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022656 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.41sINFOros2_control_node[2026-09-10 22:48:07.089] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-10 22:48:07.089] [info] Accepted new action goal ×2 + 10.54sWARNros2_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 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.369080 ms (missed cycles : 7). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.369080 ms (missed cycles : 7).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759923 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759923 ms (missed cycles : 3).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028214 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028214 ms (missed cycles : 5).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.45sINFOros2_control_node[2026-09-10 22:48:10.132] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-09-10 22:48:10.132] [info] Accepted new action goal ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845725 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845725 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432938 ms (missed cycles : 4). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432938 ms (missed cycles : 4).[0m ×2 + 16.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.58sWARNros2_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 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842839 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842839 ms (missed cycles : 3).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767633 ms (missed cycles : 5). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767633 ms (missed cycles : 5).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928175 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928175 ms (missed cycles : 2).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877708 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877708 ms (missed cycles : 3).[0m ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694967 ms (missed cycles : 7). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694967 ms (missed cycles : 7).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488163 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488163 ms (missed cycles : 2).[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286501 ms (missed cycles : 2). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286501 ms (missed cycles : 2).[0m ×2 + 23.40sWARNros2_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 + 24.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.03sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433581 ms (missed cycles : 6). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433581 ms (missed cycles : 6).[0m ×2 + 24.96sINFOros2_control_node[2026-09-10 22:48:21.639] [info] Received new action goal ×2 + 24.96sINFOros2_control_node[2026-09-10 22:48:21.639] [info] Accepted new action goal ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366275 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366275 ms (missed cycles : 2).[0m ×2 + 26.14sINFOobjective_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 + 26.15sINFOobjective_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 + 26.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 26.48sINFOros2_control_node[2026-09-10 22:48:23.162] [info] Received new action goal ×2 + 26.48sINFOros2_control_node[2026-09-10 22:48:23.162] [info] Accepted new action goal ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309643 ms (missed cycles : 4). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309643 ms (missed cycles : 4).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232410 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232410 ms (missed cycles : 2).[0m ×2 + 28.79sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 28.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.81sINFOros2_control_node[2026-09-10 22:48:25.489] [info] Received new action goal ×2 + 28.81sINFOros2_control_node[2026-09-10 22:48:25.490] [info] Accepted new action goal ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887617 ms (missed cycles : 2). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887617 ms (missed cycles : 2).[0m ×2 + 29.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541343 ms (missed cycles : 4). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541343 ms (missed cycles : 4).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846065 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846065 ms (missed cycles : 2).[0m ×2 + 31.94sINFOros2_control_node[2026-09-10 22:48:28.619] [info] Received new action goal ×2 + 31.94sINFOros2_control_node[2026-09-10 22:48:28.619] [info] Accepted new action goal ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828222 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828222 ms (missed cycles : 2).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077458 ms (missed cycles : 5). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077458 ms (missed cycles : 5).[0m ×2 + 34.53sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 34.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839188 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839188 ms (missed cycles : 2).[0m ×2 + 34.59sINFOros2_control_node[2026-09-10 22:48:31.274] [info] Received new action goal ×2 + 34.59sINFOros2_control_node[2026-09-10 22:48:31.274] [info] Accepted new action goal ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152267 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152267 ms (missed cycles : 3).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914175 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914175 ms (missed cycles : 2).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249309 ms (missed cycles : 2). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249309 ms (missed cycles : 2).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910688 ms (missed cycles : 5). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910688 ms (missed cycles : 5).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009388 ms (missed cycles : 4). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009388 ms (missed cycles : 4).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716452 ms (missed cycles : 3). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716452 ms (missed cycles : 3).[0m ×2 + 41.74sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276552 ms (missed cycles : 5). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276552 ms (missed cycles : 5).[0m ×2 + 42.41sWARNros2_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 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625675 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625675 ms (missed cycles : 2).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522382 ms (missed cycles : 3). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522382 ms (missed cycles : 3).[0m ×2 + 45.36sINFOros2_control_node[2026-09-10 22:48:42.041] [info] Received new action goal ×2 + 45.36sINFOros2_control_node[2026-09-10 22:48:42.041] [info] Accepted new action goal ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864594 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864594 ms (missed cycles : 2).[0m ×2 + 46.51sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789080523.19769025 seconds ×3 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434455 ms (missed cycles : 5). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434455 ms (missed cycles : 5).[0m ×2 + 47.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.12sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.35sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789080524.03018427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687124 ms (missed cycles : 2). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687124 ms (missed cycles : 2).[0m ×2 + 48.61sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 48.63sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.64sINFOros2_control_node[2026-09-10 22:48:45.324] [info] Received new action goal ×2 + 48.64sINFOros2_control_node[2026-09-10 22:48:45.324] [info] Accepted new action goal ×2 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902194 ms (missed cycles : 6). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902194 ms (missed cycles : 6).[0m ×2 + 48.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010407 ms (missed cycles : 4). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010407 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 13122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2154 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2154 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4308 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4308 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.638358 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.638358 ms (missed cycles : 7).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694369 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694369 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_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 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814966 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814966 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080579.59504962 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 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_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 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679779 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679779 ms (missed cycles : 3).[0m ×2 + 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 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789080580.23506689 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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.01sINFOros2_control_node[2026-09-10 22:49:40.389] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-10 22:49:40.389] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957774 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957774 ms (missed cycles : 5).[0m ×2 + 5.27sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099924 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099924 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844679 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844679 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045533 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045533 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997212 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997212 ms (missed cycles : 2).[0m ×2 + 10.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485066 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485066 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032824 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032824 ms (missed cycles : 4).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771500 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771500 ms (missed cycles : 3).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952061 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952061 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.680883 ms (missed cycles : 6). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.680883 ms (missed cycles : 6).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770435 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770435 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177582 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177582 ms (missed cycles : 2).[0m ×2 + 17.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016682 ms (missed cycles : 4). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016682 ms (missed cycles : 4).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775470 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775470 ms (missed cycles : 2).[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096487 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096487 ms (missed cycles : 3).[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679011 ms (missed cycles : 2). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679011 ms (missed cycles : 2).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 25.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 25.99sINFOobjective_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: ""
+ 25.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.28sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 26.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.29sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 26.29sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×4 + 0.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.86sINFOobjective_server_nodeFound path in 1 iterations (0.00330505 s). ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.11sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Accepted new action goal ×2 + 1.23sWARNros2_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 + 1.54sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_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 + 2.42sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Got request to cancel active goal. ×2 + 2.42sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Canceling active goal... ×2 + 2.43sERRORobjective_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: 1789080463.43634272 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.97sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.97sINFOobjective_server_nodecaller: ×6 + 2.97sINFOobjective_server_nodetype: 0 ×6 + 2.97sINFOobjective_server_nodename: "" ×6 + 2.97sINFOobjective_server_nodeinstance_id: "" ×6 + 2.97sINFOobjective_server_node ×6 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789080464.09308982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.26sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5).[0m ×2 + 5.77sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2).[0m ×2 + 7.20sWARNros2_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 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195067 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195067 ms (missed cycles : 4).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674237 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674237 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420154 ms (missed cycles : 6). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420154 ms (missed cycles : 6).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876340 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876340 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5).[0m ×2 + 13.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789080475.34680080 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789080476.01296973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2).[0m ×2 + 15.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789080476.08313060 seconds ×3 + 15.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.62sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 15.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.80sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 15.80sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 17.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 58 errors · 40 warnings · 359 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.28sINFOobjective_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 + 2.28sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.28sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080661.43837667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2).[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 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080662.65851712 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007777 ms (missed cycles : 5). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007777 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857791 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857791 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002726 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002726 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659029 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659029 ms (missed cycles : 5).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499174 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499174 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515192 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515192 ms (missed cycles : 3).[0m ×2 + 11.04sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.05sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_video_auth_proxy-23process has died [pid 7324, 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 + 11.05sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.06sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORweb_bridge_auth_proxy-22process has died [pid 7323, 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 + 11.06sERRORcomponent_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 + 11.07sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.08sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.09sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.09sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.10sINFOvideo_server-21process has finished cleanly [pid 7321] ×2 + 11.10sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.10sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.11sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.11sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.12sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.12sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.13sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.13sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.14sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.15sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.15sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.15sINFOcontroller_managerShutdown request received.... + 11.15sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.15sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.15sINFOvideo_server2026/09/10 22:51:08 INF shutting down gracefully ×2 + 11.15sINFOvideo_server2026/09/10 22:51:08 INF [WebRTC] closing ×2 + 11.15sINFOvideo_server2026/09/10 22:51:08 INF [RTSP] closing ×2 + 11.15sINFOvideo_server2026/09/10 22:51:08 INF waiting for running hooks ×2 + 11.15sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.15sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.15sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.15sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.15sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.15sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.15sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.15sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.15sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.15sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.16sINFOcontroller_managerShutting down the controller manager. + 11.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.16sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.16sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.16sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.16sERRORmove_groupStack trace (most recent call last) in thread 7681: ×2 + 11.16sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.16sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.16sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.16sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.16sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.16sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.16sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.16sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.16sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.16sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.16sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e7089fa63, in __clone ×2 + 11.16sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e70812aa3, in ×2 + 11.16sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e70aa4db3, in ×2 + 11.16sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6e71208b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.16sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e70e36620, in rclcpp::Rate::sleep() ×2 + 11.16sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e70d78d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.16sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e70d3a087, in ×2 + 11.16sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e70a73390, in __cxa_throw ×2 + 11.16sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e70a5da54, in std::terminate() ×2 + 11.16sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e70a730d9, in ×2 + 11.17sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e70a5dff4, in ×2 + 11.17sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e7079e8fe, in abort ×2 + 11.17sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e707bb27d, in raise ×2 + 11.17sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e70814b2c, in pthread_kill ×2 + 11.17sERRORmove_groupAborted (Signal sent by tkill() 7235 0) ×2 + 11.17sERRORmove_group-9process has died [pid 7235, 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_xwvxhl39 --params-file /tmp/launch_params_ch526pr_ --params-file /tmp/launch_params_206hzzbs --params-file /tmp/launch_params_8fksqqgc --params-file /tmp/launch_params_r8il6b85 --params-file /tmp/launch_params_7hyccaz7']. ×2 + 11.36sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.36sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.37sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.13sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7312] ×2 + 12.13sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.18sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7239] ×2 + 12.18sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7238] ×2 + 12.22sINFOparameter_manager_node-10process has finished cleanly [pid 7236] ×2 + 12.22sINFOwaypoint_manager_node-11process has finished cleanly [pid 7237] ×2 + 12.22sINFOcomponent_container_mt-16process has finished cleanly [pid 7242] ×2 + 12.22sINFOexecute_objective_bridge-17process has finished cleanly [pid 7243] ×2 + 12.23sINFOui_teleop_bridge-18process has finished cleanly [pid 7244] ×2 + 12.27sINFOobjective_server_node[0;m[2026-09-10 22:51:10.153] [moveit_pro_license] [critical] ×2 + 12.27sINFOobjective_server_node************************************************* ×4 + 12.27sINFOobjective_server_node* MoveIt Pro License ×2 + 12.27sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.40sINFOobjective_server_node_main-14process has finished cleanly [pid 7240] ×2 + 12.40sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.31sINFOcomponent_container_mt-15process has finished cleanly [pid 7241] ×2 + 13.38sINFOweb_bridge-19process has finished cleanly [pid 7249] ×2 + 13.38sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.79sINFOros2_control_node-1process has finished cleanly [pid 7194] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625675 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625675 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_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 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522382 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522382 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-10 22:48:42.041] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-10 22:48:42.041] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864594 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864594 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789080523.19769025 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434455 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434455 ms (missed cycles : 5).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789080524.03018427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687124 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687124 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.25sINFOros2_control_node[2026-09-10 22:48:45.324] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-09-10 22:48:45.324] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902194 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902194 ms (missed cycles : 6).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010407 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010407 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376102 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376102 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.394129 ms (missed cycles : 9). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.394129 ms (missed cycles : 9).[0m ×2 + 8.95sINFOobjective_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 + 8.95sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.95sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.95sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.96sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153225 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153225 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800442 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800442 ms (missed cycles : 2).[0m ×2 + 10.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.39sINFOros2_control_node[2026-09-10 22:48:51.465] [info] Received new action goal ×2 + 11.39sINFOros2_control_node[2026-09-10 22:48:51.465] [info] Accepted new action goal ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415635 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415635 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789080535.08037019 seconds ×3 + 15.54sINFOobjective_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: ""
+ 15.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789080535.68611073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 15.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.78sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Received new action goal ×2 + 15.78sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5).[0m ×2 + 17.05sINFOobjective_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 + 17.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.13sWARNros2_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 + 17.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.39sINFOobjective_server_nodecaller: ×6 + 2.39sINFOobjective_server_nodetype: 0 ×6 + 2.39sINFOobjective_server_nodename: "" ×6 + 2.39sINFOobjective_server_nodeinstance_id: "" ×6 + 2.39sINFOobjective_server_node ×6 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×4 + 6.67sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.67sINFOros2_control_node[2026-09-10 22:47:14.463] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-09-10 22:47:14.463] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226165 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226165 ms (missed cycles : 5).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.715928 ms (missed cycles : 6). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.715928 ms (missed cycles : 6).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.425077 ms (missed cycles : 7). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.425077 ms (missed cycles : 7).[0m ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 9.02sINFOros2_control_node[2026-09-10 22:47:16.810] [info] Received new action goal ×2 + 9.02sINFOros2_control_node[2026-09-10 22:47:16.810] [info] Accepted new action goal ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901640 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901640 ms (missed cycles : 2).[0m ×2 + 10.19sWARNros2_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 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 11.38sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 13.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.62sERRORobjective_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: 1789080441.40894699 seconds ×3 + 14.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.46sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 16.24sWARNros2_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 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 207 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569924 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569924 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789080450.23501396 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317286 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317286 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361127 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361127 ms (missed cycles : 4).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789080453.04632211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-10 22:47:33.252] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 22:47:33.252] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792983 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792983 ms (missed cycles : 2).[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578583 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578583 ms (missed cycles : 7).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070046 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070046 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703886 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703886 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241361 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241361 ms (missed cycles : 2).[0m ×2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 8.48sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 5 iterations (0.00569517 s). ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536314 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536314 ms (missed cycles : 5).[0m ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (6.03e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.24sINFOros2_control_node[2026-09-10 22:47:39.176] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-09-10 22:47:39.176] [info] Accepted new action goal ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947875 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947875 ms (missed cycles : 3).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2).[0m ×2 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.78sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×4 + 11.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.93sINFOobjective_server_nodeFound path in 1 iterations (0.00330505 s). ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2).[0m ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.18sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Accepted new action goal ×2 + 12.30sWARNros2_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 + 12.61sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Received new action goal ×2 + 12.61sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Accepted new action goal ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_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 + 13.49sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Got request to cancel active goal. ×2 + 13.49sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Canceling active goal... ×2 + 13.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789080463.43634272 seconds ×3 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789080464.09308982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2).[0m ×2 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.33sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Received new action goal ×2 + 14.33sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5).[0m ×2 + 16.84sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Received new action goal ×2 + 16.84sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Accepted new action goal ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2154 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218909 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218909 ms (missed cycles : 4).[0m ×2 + 7.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 1 iterations (0.00358158 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.51sINFOros2_control_node[2026-09-10 22:50:07.036] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-09-10 22:50:07.036] [info] Accepted new action goal ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104514 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104514 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140432 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140432 ms (missed cycles : 2).[0m ×2 + 10.81sINFOros2_control_node[2026-09-10 22:50:09.339] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-09-10 22:50:09.339] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408420 ms (missed cycles : 4). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408420 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 12.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.68sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 12.68sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 13.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 14.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 14.65sWARNros2_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 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 15.17sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 17.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941845 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941845 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736229 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736229 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.578572 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.578572 ms (missed cycles : 6).[0m ×2 + 2.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 2.48sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.49sINFOros2_control_node[2026-09-10 22:46:46.432] [info] Received new action goal ×2 + 2.49sINFOros2_control_node[2026-09-10 22:46:46.432] [info] Accepted new action goal ×2 + 2.98sINFOobjective_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 + 2.99sINFOros2_control_node[2026-09-10 22:46:46.928] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-09-10 22:46:46.928] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1789080406.94397855 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716149 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716149 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789080407.56197453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-10 22:46:47.785] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-10 22:46:47.785] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953556 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.933713 ms (missed cycles : 8). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.933713 ms (missed cycles : 8).[0m ×2 + 5.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.14sINFOros2_control_node[2026-09-10 22:46:50.076] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-09-10 22:46:50.076] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302402 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302402 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230762 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230762 ms (missed cycles : 4).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928623 ms (missed cycles : 6). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928623 ms (missed cycles : 6).[0m ×2 + 9.14sWARNros2_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 ×4 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856849 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856849 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273569 ms (missed cycles : 5). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273569 ms (missed cycles : 5).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 13.99sERRORobjective_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: 1789080417.93254089 seconds ×3 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 15.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.31sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 15.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.57sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 15.57sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 52 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789080634.34192896 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789080635.00483894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2).[0m ×2 + 5.20sWARNros2_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 ×4 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892225 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892225 ms (missed cycles : 4).[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749430 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749430 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324869 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324869 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479059 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479059 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 13.49sINFOobjective_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 + 13.50sERRORobjective_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: 1789080645.32511568 seconds ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_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 + 14.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 15.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.40sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 15.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.58sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 187 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_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 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758247 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758247 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113417 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113417 ms (missed cycles : 4).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 5 iterations (0.00534711 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294619 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294619 ms (missed cycles : 2).[0m ×2 + 8.61sINFOros2_control_node[2026-09-10 22:47:27.670] [info] Received new action goal ×2 + 8.61sINFOros2_control_node[2026-09-10 22:47:27.670] [info] Accepted new action goal ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964926 ms (missed cycles : 5). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964926 ms (missed cycles : 5).[0m ×2 + 10.87sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569924 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569924 ms (missed cycles : 2).[0m ×2 + 11.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.14sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.14sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.14sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789080450.23501396 seconds ×3 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317286 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317286 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361127 ms (missed cycles : 4). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361127 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789080453.04632211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 14.19sINFOros2_control_node[2026-09-10 22:47:33.252] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-10 22:47:33.252] [info] Accepted new action goal ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792983 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792983 ms (missed cycles : 2).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578583 ms (missed cycles : 7). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578583 ms (missed cycles : 7).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070046 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070046 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sERRORobjective_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: 1789080417.93254089 seconds ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 2.34sWARNros2_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 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045536 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045536 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 1 iterations (0.00399026 s). ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555038 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555038 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.33sINFOros2_control_node[2026-09-10 22:47:04.185] [info] Received new action goal ×2 + 7.33sINFOros2_control_node[2026-09-10 22:47:04.185] [info] Accepted new action goal ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583106 ms (missed cycles : 6). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583106 ms (missed cycles : 6).[0m ×2 + 8.44sWARNros2_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 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746170 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746170 ms (missed cycles : 2).[0m ×2 + 9.63sINFOros2_control_node[2026-09-10 22:47:06.488] [info] Received new action goal ×2 + 9.63sINFOros2_control_node[2026-09-10 22:47:06.488] [info] Accepted new action goal ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916913 ms (missed cycles : 4). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916913 ms (missed cycles : 4).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 11.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.49sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 11.49sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 12.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 13.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 13.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 14.23sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.25sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 14.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 135 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_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 ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590205 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590205 ms (missed cycles : 2).[0m ×2 + 7.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361926 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361926 ms (missed cycles : 3).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091222 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091222 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786066 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786066 ms (missed cycles : 4).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3).[0m ×2 + 13.18sINFOobjective_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 + 13.18sERRORobjective_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: 1789080623.82579041 seconds ×3 + 13.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.73sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 13.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789080624.43131661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2).[0m ×2 + 14.07sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 14.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.10sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Received new action goal ×2 + 14.10sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6).[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 4.666502 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.71sINFOobjective_server_nodecaller: ×12 + 0.71sINFOobjective_server_nodetype: 0 ×12 + 0.71sINFOobjective_server_nodename: "" ×12 + 0.71sINFOobjective_server_nodeinstance_id: "" ×12 + 0.71sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.76sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.28sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450102 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450102 ms (missed cycles : 2).[0m ×2 + 7.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924574 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924574 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392407 ms (missed cycles : 6). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392407 ms (missed cycles : 6).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756061 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756061 ms (missed cycles : 3).[0m ×2 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 10.10sINFOros2_control_node[2026-09-10 22:46:43.092] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-09-10 22:46:43.092] [info] Accepted new action goal ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941845 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941845 ms (missed cycles : 3).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736229 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736229 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.578572 ms (missed cycles : 6). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.578572 ms (missed cycles : 6).[0m ×2 + 13.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.44sINFOros2_control_node[2026-09-10 22:46:46.432] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-09-10 22:46:46.432] [info] Accepted new action goal ×2 + 13.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOros2_control_node[2026-09-10 22:46:46.928] [info] Got request to cancel active goal. ×2 + 13.94sINFOros2_control_node[2026-09-10 22:46:46.928] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1789080406.94397855 seconds ×3 + 13.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.97sINFOcontroller_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 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716149 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716149 ms (missed cycles : 2).[0m ×2 + 14.50sINFOobjective_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: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789080407.56197453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 14.80sINFOros2_control_node[2026-09-10 22:46:47.785] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-10 22:46:47.785] [info] Accepted new action goal ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953556 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953556 ms (missed cycles : 2).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.933713 ms (missed cycles : 8). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.933713 ms (missed cycles : 8).[0m ×2 + 17.07sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 17.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.09sINFOros2_control_node[2026-09-10 22:46:50.076] [info] Received new action goal ×2 + 17.09sINFOros2_control_node[2026-09-10 22:46:50.076] [info] Accepted new action goal ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302402 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302402 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 55 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.75sERRORobjective_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: 1789080645.32511568 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.32sINFOobjective_server_nodecaller: ×12 + 2.32sINFOobjective_server_nodetype: 0 ×12 + 2.32sINFOobjective_server_nodename: "" ×12 + 2.32sINFOobjective_server_nodeinstance_id: "" ×12 + 2.32sINFOobjective_server_node ×12 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4).[0m ×2 + 7.15sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.15sINFOros2_control_node[2026-09-10 22:50:50.728] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-09-10 22:50:50.728] [info] Accepted new action goal ×2 + 7.15sINFOros2_control_node[2026-09-10 22:50:50.728] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.842886 ms (missed cycles : 8). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.842886 ms (missed cycles : 8).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883576 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883576 ms (missed cycles : 3).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044628 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044628 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162850 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162850 ms (missed cycles : 2).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2).[0m ×2 + 12.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 13.75sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 13.75sERRORobjective_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: 1789080657.32930827 seconds ×3 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 16.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.53sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 16.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.59sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 17.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_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 + 2.35sERRORobjective_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: 1789080623.82579041 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789080624.43131661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.27sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927687 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927687 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754236 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754236 ms (missed cycles : 2).[0m ×2 + 7.28sINFOros2_control_node[2026-09-10 22:50:28.756] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-09-10 22:50:28.756] [info] Accepted new action goal ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525482 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525482 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478814 ms (missed cycles : 5). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478814 ms (missed cycles : 5).[0m ×2 + 9.46sWARNros2_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 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3).[0m ×2 + 12.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789080634.34192896 seconds ×3 + 13.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.47sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789080635.00483894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.66sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 13.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.68sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Received new action goal ×2 + 13.68sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Accepted new action goal ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2).[0m ×2 + 15.55sWARNros2_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 + 15.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5).[0m ×2 + 0.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789080475.34680080 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789080476.01296973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2).[0m ×2 + 2.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789080476.08313060 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.90sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.02sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.78sINFOobjective_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 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.10sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 7.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[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 3.162850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162850 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789080657.32930827 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.40sINFOobjective_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 + 5.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080661.43837667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2).[0m ×2 + 7.53sWARNros2_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 + 7.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080662.65851712 seconds ×3 + 7.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 32 warnings · 625 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.22sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.33sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.33sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.35sINFOros2-3process has finished cleanly [pid 7196] ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.44sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.47sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.47sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.47sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2_control_node[2026-09-10 22:46:29.038] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_node[2026-09-10 22:46:29.038] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.51sINFOros2_control_node[2026-09-10 22:46:29.064] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.51sINFOros2_control_node[2026-09-10 22:46:29.064] [info] Controller state will be published at 50 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-10 22:46:29.070] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7210] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4).[0m ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7208] ×2 + 1.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.24sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.24sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.24sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 1.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 1.59sINFOros2-5process has finished cleanly [pid 7209] ×2 + 1.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.60sINFOforce_torque_sensor_broadcasterconfigure successful + 1.60sINFOros2_control_nodeconfigure successful[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.94sINFOros2-2process has finished cleanly [pid 7195] ×2 + 1.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 1.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 2.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 2.03sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 2.03sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.40sINFOros2-8process has finished cleanly [pid 7212] ×2 + 2.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 2.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 2.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.49sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 2.49sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.80sINFOobjective_server_nodecaller: ×14 + 2.80sINFOobjective_server_nodetype: 0 ×14 + 2.80sINFOobjective_server_nodename: "" ×14 + 2.80sINFOobjective_server_nodeinstance_id: "" ×14 + 2.80sINFOobjective_server_node ×14 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOros2-7process has finished cleanly [pid 7211] ×2 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[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 + 3.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.19sWARNros2_control_nodeCamera render tick took 1.91 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 4.666502 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 7.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.19sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789080417.93254089 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 3.71sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5).[0m ×2 + 1.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789080475.34680080 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789080476.01296973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2).[0m ×2 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789080476.08313060 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.95sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.07sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 6.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916913 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916913 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.19sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.95sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 461 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7195] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.89sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.89sINFOobjective_server_nodecaller: ×14 + 0.89sINFOobjective_server_nodetype: 0 ×14 + 0.89sINFOobjective_server_nodename: "" ×14 + 0.89sINFOobjective_server_nodeinstance_id: "" ×14 + 0.89sINFOobjective_server_node ×14 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 0.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 0.44sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 0.45sERRORobjective_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: 1789080657.32930827 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.00sINFOobjective_server_nodecaller: ×8 + 1.00sINFOobjective_server_nodetype: 0 ×8 + 1.00sINFOobjective_server_nodename: "" ×8 + 1.00sINFOobjective_server_nodeinstance_id: "" ×8 + 1.00sINFOobjective_server_node ×8 + 1.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.28sINFOobjective_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 + 3.28sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080661.43837667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080662.65851712 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007777 ms (missed cycles : 5). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007777 ms (missed cycles : 5).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857791 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857791 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_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 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 24 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 0.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 0.44sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 0.45sERRORobjective_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: 1789080657.32930827 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.00sINFOobjective_server_nodecaller: ×8 + 1.00sINFOobjective_server_nodetype: 0 ×8 + 1.00sINFOobjective_server_nodename: "" ×8 + 1.00sINFOobjective_server_nodeinstance_id: "" ×8 + 1.00sINFOobjective_server_node ×8 + 1.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.28sINFOobjective_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 + 3.28sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192690 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080661.43837667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161794 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080662.65851712 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007777 ms (missed cycles : 5). | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[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 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789080417.93254089 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 3.71sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824992 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789080417.93254089 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 3.71sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sERRORobjective_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: 1789080417.93254089 seconds ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.69sINFOobjective_server_nodecaller: ×4 + 1.69sINFOobjective_server_nodetype: 0 ×4 + 1.69sINFOobjective_server_nodename: "" ×4 + 1.69sINFOobjective_server_nodeinstance_id: "" ×4 + 1.69sINFOobjective_server_node ×4 + 1.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 2.34sWARNros2_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 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sERRORobjective_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: 1789080417.93254089 seconds ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.69sINFOobjective_server_nodecaller: ×4 + 1.69sINFOobjective_server_nodetype: 0 ×4 + 1.69sINFOobjective_server_nodename: "" ×4 + 1.69sINFOobjective_server_nodeinstance_id: "" ×4 + 1.69sINFOobjective_server_node ×4 + 1.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 2.34sWARNros2_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 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sERRORobjective_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: 1789080417.93254089 seconds ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.69sINFOobjective_server_nodecaller: ×4 + 1.69sINFOobjective_server_nodetype: 0 ×4 + 1.69sINFOobjective_server_nodename: "" ×4 + 1.69sINFOobjective_server_nodeinstance_id: "" ×4 + 1.69sINFOobjective_server_node ×4 + 1.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 2.34sWARNros2_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 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246981 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958450 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sERRORobjective_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: 1789080417.93254089 seconds ×3 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.69sINFOobjective_server_nodecaller: ×4 + 1.69sINFOobjective_server_nodetype: 0 ×4 + 1.69sINFOobjective_server_nodename: "" ×4 + 1.69sINFOobjective_server_nodeinstance_id: "" ×4 + 1.69sINFOobjective_server_node ×4 + 1.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789080418.60289359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789080418.68302083 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604366 ms (missed cycles : 4).[0m ×2 + 2.34sWARNros2_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 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789080419.30476832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-10 22:46:59.509] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392356 ms (missed cycles : 6).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843104 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521732 ms (missed cycles : 2).[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 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 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 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 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 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354047 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:47:08.350] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615030 ms (missed cycles : 6).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789080429.64644241 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024914 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789080430.27243090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789080430.35256886 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789080430.97883272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-10 22:47:11.103] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395508 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873486 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918401 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 22:47:19.167] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898759 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315246 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1789080441.40894699 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789080442.04293990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762830 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-10 22:47:22.246] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112857 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837847 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525317 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×4 + 0.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.86sINFOobjective_server_nodeFound path in 1 iterations (0.00330505 s). ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530317 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.11sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-10 22:47:42.113] [info] Accepted new action goal ×2 + 1.23sWARNros2_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 + 1.54sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-09-10 22:47:42.545] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391900 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_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 + 2.42sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Got request to cancel active goal. ×2 + 2.42sINFOros2_control_node[2026-09-10 22:47:43.426] [info] Canceling active goal... ×2 + 2.43sERRORobjective_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: 1789080463.43634272 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789080464.09308982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294029 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.26sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-10 22:47:44.266] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.101603 ms (missed cycles : 8).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762513 ms (missed cycles : 5).[0m ×2 + 5.77sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-09-10 22:47:46.775] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936037 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366777 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761427 ms (missed cycles : 5).[0m ×2 + 1.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304977 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789080475.34680080 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789080476.01296973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025618 ms (missed cycles : 2).[0m ×2 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789080476.08313060 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.95sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.07sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789080476.68374658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-10 22:47:56.807] [info] Accepted new action goal ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.126519 ms (missed cycles : 5).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371696 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789080478.81384850 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317828 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909185 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789080480.47511768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 22:48:00.882] [info] Accepted new action goal ×2 + 4.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311591 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716932 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572780 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285261 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489252 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204118 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789080535.08037019 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789080535.68611073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.08sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-10 22:48:55.859] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037916 ms (missed cycles : 2).[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527963 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591322 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×652 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813886 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977948 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734549 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789080601.74805617 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789080602.45849538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 22:50:02.662] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883375 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397375 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899290 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562939 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-10 22:50:11.203] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393694 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789080612.49885130 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291596 ms (missed cycles : 4).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.78sINFOobjective_server_nodecaller: ×2 + 2.78sINFOobjective_server_nodetype: 0 ×2 + 2.78sINFOobjective_server_nodename: "" ×2 + 2.78sINFOobjective_server_nodeinstance_id: "" ×2 + 2.78sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789080613.50524330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 22:50:13.699] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739388 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.600349 ms (missed cycles : 7).[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070132 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799488 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637001 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_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 + 2.35sERRORobjective_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: 1789080623.82579041 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789080624.43131661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127832 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.27sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 22:50:24.740] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294112 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432666 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010514 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901095 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929329 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789080634.34192896 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787276 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789080635.00483894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 22:50:35.149] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2).[0m ×2 + 5.20sWARNros2_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 + 5.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042348 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360474 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1789080645.32511568 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_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 + 1.75sERRORobjective_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: 1789080645.32511568 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_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 + 1.75sERRORobjective_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: 1789080645.32511568 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587828 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881973 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_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 + 1.75sERRORobjective_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: 1789080645.32511568 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261197 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789080645.96058321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789080646.04074883 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789080646.63700175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_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 + 3.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789080646.65930533 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119338 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789080647.29442263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-10 22:50:47.408] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851755 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348106 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608109 ms (missed cycles : 4).[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 3.162850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162850 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789080657.32930827 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.11sINFOobjective_server_nodecaller: ×6 + 3.11sINFOobjective_server_nodetype: 0 ×6 + 3.11sINFOobjective_server_nodename: "" ×6 + 3.11sINFOobjective_server_nodeinstance_id: "" ×6 + 3.11sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.40sINFOobjective_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 + 5.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 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 3.162850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162850 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557861 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230386 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-09-10 22:50:57.324] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789080657.32930827 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.11sINFOobjective_server_nodecaller: ×6 + 3.11sINFOobjective_server_nodetype: 0 ×6 + 3.11sINFOobjective_server_nodename: "" ×6 + 3.11sINFOobjective_server_nodeinstance_id: "" ×6 + 3.11sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080657.93525791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050377 ms (missed cycles : 4).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693504 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080659.55539036 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547473 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789080660.16157484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.40sINFOobjective_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 + 5.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789080660.16401267 seconds ×3 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789080660.80939126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789080660.84031963 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 | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 45 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-10-22-46-24-120453-fa8b8e8d2073-7146 ×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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514006 ms (missed cycles : 5). + 0.88sINFOros2_control_node-1process started with pid [7194] ×2 + 0.88sINFOmove_group-9process started with pid [7235] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [7236] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [7237] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [7238] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7239] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7240] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7241] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7242] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7243] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7244] ×2 + 0.88sINFOweb_bridge-19process started with pid [7249] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7312] ×2 + 0.88sINFOvideo_server-21process started with pid [7321] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7323] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7324] ×2 + 0.88sINFOros2-2process started with pid [7195] ×2 + 0.88sINFOros2-3process started with pid [7196] ×2 + 0.88sINFOros2-4process started with pid [7208] ×2 + 0.88sINFOros2-5process started with pid [7209] ×2 + 0.88sINFOros2-6process started with pid [7210] ×2 + 0.88sINFOros2-7process started with pid [7211] ×2 + 0.88sINFOros2-8process started with pid [7212] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514006 ms (missed cycles : 5).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF configuration loaded from /tmp/moveit-webrtc-yzu03b8a/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.54sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.54sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.88sINFOmove_group[2026-09-10 22:46:26.394] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOwaypoint_manager_node[2026-09-10 22:46:26.530] [moveit_pro_license] [info] ×2 + 2.02sINFOwaypoint_manager_node************************************************* ×4 + 2.02sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.02sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311354 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311354 ms (missed cycles : 2).[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOobjective_server_node[2026-09-10 22:46:28.106] [moveit_pro_license] [info] ×2 + 3.60sINFOobjective_server_node************************************************* ×4 + 3.60sINFOobjective_server_node* MoveIt Pro License ×2 + 3.60sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.81sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.81sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.85sINFOcomponent_container_mt[2026-09-10 22:46:28.363] [moveit_pro_license] [info] ×2 + 3.85sINFOcomponent_container_mt************************************************* ×4 + 3.85sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.85sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.88sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.88sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.88sWARNros2_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 + 3.88sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.88sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.88sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.88sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.88sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.88sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.88sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.88sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.88sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.88sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.88sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.88sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.88sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.88sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.88sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.89sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.89sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.89sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.89sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.89sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701772 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701772 ms (missed cycles : 2).[0m ×2 + 3.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 4.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 4.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.23sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.23sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.26sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.40sINFOros2-3process has finished cleanly [pid 7196] ×2 + 4.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 4.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 4.52sINFOros2_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 + 4.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.52sWARNros2_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 + 4.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.53sINFOros2_control_node[2026-09-10 22:46:29.038] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_node[2026-09-10 22:46:29.038] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.55sINFOros2_control_node[2026-09-10 22:46:29.064] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.55sINFOros2_control_node[2026-09-10 22:46:29.064] [info] Controller state will be published at 50 Hz. ×2 + 4.56sINFOros2_control_node[2026-09-10 22:46:29.070] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 4.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 4.89sINFOros2-6process has finished cleanly [pid 7210] ×2 + 4.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.90sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.90sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.91sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4).[0m ×2 + 5.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 5.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 5.24sINFOros2-4process has finished cleanly [pid 7208] ×2 + 5.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.30sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.30sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.60sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 5.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 5.63sINFOros2-5process has finished cleanly [pid 7209] ×2 + 5.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.65sINFOforce_torque_sensor_broadcasterconfigure successful + 5.65sINFOros2_control_nodeconfigure successful[0m ×2 + 5.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.95sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.99sINFOros2-2process has finished cleanly [pid 7195] ×2 + 6.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 6.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 6.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 6.08sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 6.08sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.45sINFOros2-8process has finished cleanly [pid 7212] ×2 + 6.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 6.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 6.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.54sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 6.54sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.84sINFOobjective_server_nodecaller: ×10 + 6.84sINFOobjective_server_nodetype: 0 ×10 + 6.84sINFOobjective_server_nodename: "" ×10 + 6.84sINFOobjective_server_nodeinstance_id: "" ×10 + 6.84sINFOobjective_server_node ×10 + 6.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.91sINFOros2-7process has finished cleanly [pid 7211] ×2 + 6.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.24sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 8.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 9.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 9.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 10.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 10.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 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 4.484091 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[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 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.79sWARNros2_control_nodeCamera render tick took 1.91 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 4.666502 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 6.46sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 7.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.31sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 408 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.43sINFOobjective_server_nodecaller: ×14 + 0.43sINFOobjective_server_nodetype: 0 ×14 + 0.43sINFOobjective_server_nodename: "" ×14 + 0.43sINFOobjective_server_nodeinstance_id: "" ×14 + 0.43sINFOobjective_server_node ×14 + 0.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.83sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.83sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 7.50sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 163 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/2026-09-10-22-46-24-120453-fa8b8e8d2073-7146 ×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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514006 ms (missed cycles : 5). + 0.88sINFOros2_control_node-1process started with pid [7194] ×2 + 0.88sINFOmove_group-9process started with pid [7235] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [7236] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [7237] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [7238] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7239] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7240] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7241] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7242] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7243] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7244] ×2 + 0.88sINFOweb_bridge-19process started with pid [7249] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7312] ×2 + 0.88sINFOvideo_server-21process started with pid [7321] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7323] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7324] ×2 + 0.88sINFOros2-2process started with pid [7195] ×2 + 0.88sINFOros2-3process started with pid [7196] ×2 + 0.88sINFOros2-4process started with pid [7208] ×2 + 0.88sINFOros2-5process started with pid [7209] ×2 + 0.88sINFOros2-6process started with pid [7210] ×2 + 0.88sINFOros2-7process started with pid [7211] ×2 + 0.88sINFOros2-8process started with pid [7212] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514006 ms (missed cycles : 5).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF configuration loaded from /tmp/moveit-webrtc-yzu03b8a/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/10 22:46:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.54sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.54sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.88sINFOmove_group[2026-09-10 22:46:26.394] [moveit_pro_license] [info] ×2 + 1.88sINFOmove_group************************************************* ×4 + 1.88sINFOmove_group* MoveIt Pro License ×2 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOwaypoint_manager_node[2026-09-10 22:46:26.530] [moveit_pro_license] [info] ×2 + 2.02sINFOwaypoint_manager_node************************************************* ×4 + 2.02sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.02sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311354 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311354 ms (missed cycles : 2).[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOobjective_server_node[2026-09-10 22:46:28.106] [moveit_pro_license] [info] ×2 + 3.60sINFOobjective_server_node************************************************* ×4 + 3.60sINFOobjective_server_node* MoveIt Pro License ×2 + 3.60sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 461 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7195] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.89sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.89sINFOobjective_server_nodecaller: ×14 + 0.89sINFOobjective_server_nodetype: 0 ×14 + 0.89sINFOobjective_server_nodename: "" ×14 + 0.89sINFOobjective_server_nodeinstance_id: "" ×14 + 0.89sINFOobjective_server_node ×14 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 461 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7195] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.89sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.89sINFOobjective_server_nodecaller: ×14 + 0.89sINFOobjective_server_nodetype: 0 ×14 + 0.89sINFOobjective_server_nodename: "" ×14 + 0.89sINFOobjective_server_nodeinstance_id: "" ×14 + 0.89sINFOobjective_server_node ×14 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 461 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7195] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912089 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.589] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:30.590] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.89sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.89sINFOobjective_server_nodecaller: ×14 + 0.89sINFOobjective_server_nodetype: 0 ×14 + 0.89sINFOobjective_server_nodename: "" ×14 + 0.89sINFOobjective_server_nodeinstance_id: "" ×14 + 0.89sINFOobjective_server_node ×14 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 406 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 7212] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q1bq_kta --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_sw5gm2jn --params-file /tmp/launch_params_yaaw4uwe [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:31.048] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-10 22:46:31.049] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.43sINFOobjective_server_nodecaller: ×14 + 0.43sINFOobjective_server_nodetype: 0 ×14 + 0.43sINFOobjective_server_nodename: "" ×14 + 0.43sINFOobjective_server_nodeinstance_id: "" ×14 + 0.43sINFOobjective_server_node ×14 + 0.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080391.41489315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOros2-7process has finished cleanly [pid 7211] ×2 + 0.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080391.42514205 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.83sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.83sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484091 ms (missed cycles : 3).[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 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789080392.02730966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.79sWARNros2_control_nodeCamera render tick took 1.91 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 4.666502 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 6.46sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [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 |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450102 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450102 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666502 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789080393.13750458 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789080393.75542665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789080393.81563258 seconds ×3 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164739 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080394.47866774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080394.49878645 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080395.09241056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816571 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080395.24433017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080395.95257068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080396.00269675 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100050 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789080396.60762453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-10 22:46:36.747] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647349 ms (missed cycles : 4).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297084 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 22:46:39.272] [info] Accepted new action goal ×2 | ||||