117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass55 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 | 44.4s | 163 warnings · 22128 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Accepted new action goal ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787288067.06131649 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787288067.67809796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.50sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539855 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539855 ms (missed cycles : 2).[0m ×2 + 7.80sINFOjoint_trajectory_controllerReceived new action goal ×3646 + 7.80sINFOjoint_trajectory_controllerAccepted new action goal ×3646 + 7.80sINFOros2_control_nodeReceived new action goal[0m ×7292 + 7.80sINFOros2_control_nodeAccepted new action goal[0m ×7292 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928091 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928091 ms (missed cycles : 2).[0m ×2 + 9.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×4 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026887 ms (missed cycles : 5). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026887 ms (missed cycles : 5).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176092 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176092 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778129 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778129 ms (missed cycles : 3).[0m ×2 + 12.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240493 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240493 ms (missed cycles : 2).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887155 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887155 ms (missed cycles : 2).[0m ×2 + 15.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×4 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717188 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717188 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088644 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088644 ms (missed cycles : 3).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181651 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181651 ms (missed cycles : 2).[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280421 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280421 ms (missed cycles : 2).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925312 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925312 ms (missed cycles : 3).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669143 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669143 ms (missed cycles : 2).[0m ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817977 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817977 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281623 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281623 ms (missed cycles : 2).[0m ×2 + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004720 ms (missed cycles : 2). + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004720 ms (missed cycles : 2).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750784 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750784 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056840 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056840 ms (missed cycles : 2).[0m ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875949 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875949 ms (missed cycles : 2).[0m ×2 + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704346 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704346 ms (missed cycles : 3).[0m ×2 + 28.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110818 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110818 ms (missed cycles : 2).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067354 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067354 ms (missed cycles : 2).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307381 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307381 ms (missed cycles : 2).[0m ×2 + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889568 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889568 ms (missed cycles : 2).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966471 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966471 ms (missed cycles : 2).[0m ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683480 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683480 ms (missed cycles : 2).[0m ×2 + 34.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910615 ms (missed cycles : 2). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910615 ms (missed cycles : 2).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879591 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879591 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771862 ms (missed cycles : 3). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771862 ms (missed cycles : 3).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231269 ms (missed cycles : 2). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231269 ms (missed cycles : 2).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902169 ms (missed cycles : 2). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902169 ms (missed cycles : 2).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880526 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880526 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878981 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878981 ms (missed cycles : 2).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354130 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354130 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136797 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136797 ms (missed cycles : 2).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683484 ms (missed cycles : 2). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683484 ms (missed cycles : 2).[0m ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239752 ms (missed cycles : 2). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239752 ms (missed cycles : 2).[0m ×2 + 46.54sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513362 ms (missed cycles : 2). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513362 ms (missed cycles : 2).[0m ×2 + 47.07sWARNros2_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 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284694 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284694 ms (missed cycles : 2).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288111.48832369 seconds ×3 + 48.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787288112.12339067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018376 ms (missed cycles : 4). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018376 ms (missed cycles : 4).[0m ×2 + 48.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.93sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 48.93sINFOros2_control_node[2026-08-21 04:55:12.277] [info] Received new action goal ×2 + 48.93sINFOros2_control_node[2026-08-21 04:55:12.277] [info] Accepted new action goal ×2 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440400 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440400 ms (missed cycles : 2).[0m ×2 + 50.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954318 ms (missed cycles : 2). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954318 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 156 warnings · 297 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 + 6.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 7.84sINFOros2_control_node[2026-08-21 04:53:36.340] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-08-21 04:53:36.340] [info] Accepted new action goal ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480286 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480286 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285891 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285891 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359798 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359798 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.01sINFOros2_control_node[2026-08-21 04:53:39.510] [info] Received new action goal ×2 + 11.01sINFOros2_control_node[2026-08-21 04:53:39.510] [info] Accepted new action goal ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200500 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200500 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915556 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915556 ms (missed cycles : 2).[0m ×2 + 12.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297266 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297266 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 13.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.03sINFOros2_control_node[2026-08-21 04:53:42.533] [info] Received new action goal ×2 + 14.03sINFOros2_control_node[2026-08-21 04:53:42.533] [info] Accepted new action goal ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877686 ms (missed cycles : 3). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877686 ms (missed cycles : 3).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979560 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979560 ms (missed cycles : 4).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242644 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242644 ms (missed cycles : 2).[0m ×2 + 16.98sINFOobjective_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 + 16.98sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.98sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.98sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.99sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544566 ms (missed cycles : 3). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544566 ms (missed cycles : 3).[0m ×2 + 18.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635423 ms (missed cycles : 4). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635423 ms (missed cycles : 4).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357323 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357323 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614804 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614804 ms (missed cycles : 3).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169870 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169870 ms (missed cycles : 2).[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402151 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402151 ms (missed cycles : 3).[0m ×2 + 24.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216448 ms (missed cycles : 7). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216448 ms (missed cycles : 7).[0m ×2 + 24.52sINFOobjective_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 + 24.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.52sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.52sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.52sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.52sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 25.41sINFOros2_control_node[2026-08-21 04:53:53.909] [info] Received new action goal ×2 + 25.41sINFOros2_control_node[2026-08-21 04:53:53.909] [info] Accepted new action goal ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247378 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247378 ms (missed cycles : 2).[0m ×2 + 26.59sINFOobjective_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 + 26.60sINFOobjective_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 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604407 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604407 ms (missed cycles : 3).[0m ×2 + 26.88sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 26.93sINFOros2_control_node[2026-08-21 04:53:55.433] [info] Received new action goal ×2 + 26.93sINFOros2_control_node[2026-08-21 04:53:55.433] [info] Accepted new action goal ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848805 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848805 ms (missed cycles : 3).[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556379 ms (missed cycles : 5). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556379 ms (missed cycles : 5).[0m ×2 + 29.21sINFOobjective_server_nodeFound path in 0 iterations (1.367e-06 s). ×2 + 29.22sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.23sINFOros2_control_node[2026-08-21 04:53:57.735] [info] Received new action goal ×2 + 29.23sINFOros2_control_node[2026-08-21 04:53:57.735] [info] Accepted new action goal ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645934 ms (missed cycles : 5). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645934 ms (missed cycles : 5).[0m ×2 + 29.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010053 ms (missed cycles : 2). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010053 ms (missed cycles : 2).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849934 ms (missed cycles : 3). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849934 ms (missed cycles : 3).[0m ×2 + 32.27sINFOros2_control_node[2026-08-21 04:54:00.770] [info] Received new action goal ×2 + 32.27sINFOros2_control_node[2026-08-21 04:54:00.770] [info] Accepted new action goal ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306602 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306602 ms (missed cycles : 4).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195807 ms (missed cycles : 3). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195807 ms (missed cycles : 3).[0m ×2 + 34.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 34.86sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.90sINFOros2_control_node[2026-08-21 04:54:03.403] [info] Received new action goal ×2 + 34.90sINFOros2_control_node[2026-08-21 04:54:03.403] [info] Accepted new action goal ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481781 ms (missed cycles : 4). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481781 ms (missed cycles : 4).[0m ×2 + 35.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591509 ms (missed cycles : 2). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591509 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627013 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627013 ms (missed cycles : 3).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366971 ms (missed cycles : 3). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366971 ms (missed cycles : 3).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874615 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874615 ms (missed cycles : 3).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419288 ms (missed cycles : 4). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419288 ms (missed cycles : 4).[0m ×2 + 41.38sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928230 ms (missed cycles : 4). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928230 ms (missed cycles : 4).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.173450 ms (missed cycles : 7). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.173450 ms (missed cycles : 7).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356064 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356064 ms (missed cycles : 3).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197896 ms (missed cycles : 4). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197896 ms (missed cycles : 4).[0m ×2 + 45.60sINFOros2_control_node[2026-08-21 04:54:14.109] [info] Received new action goal ×2 + 45.61sINFOros2_control_node[2026-08-21 04:54:14.109] [info] Accepted new action goal ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215245 ms (missed cycles : 3). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215245 ms (missed cycles : 3).[0m ×2 + 46.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787288055.26594496 seconds ×3 + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947334 ms (missed cycles : 2). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947334 ms (missed cycles : 2).[0m ×2 + 47.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787288056.14109993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083427 ms (missed cycles : 5). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083427 ms (missed cycles : 5).[0m ×2 + 48.82sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 48.83sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.84sINFOros2_control_node[2026-08-21 04:54:17.345] [info] Received new action goal ×2 + 48.84sINFOros2_control_node[2026-08-21 04:54:17.345] [info] Accepted new action goal ×2 + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427853 ms (missed cycles : 2). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427853 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.0s | 112 warnings · 2895 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×447 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×447 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×894 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×894 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288133.60279226 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787288134.23317790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 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 ] + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOobjective_server_nodeFound path in 5 iterations (0.00590758 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462598 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462598 ms (missed cycles : 3).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389117 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389117 ms (missed cycles : 3).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498651 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498651 ms (missed cycles : 3).[0m ×2 + 10.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926867 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926867 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375409 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375409 ms (missed cycles : 3).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261919 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261919 ms (missed cycles : 2).[0m ×2 + 13.72sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169970 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169970 ms (missed cycles : 3).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058800 ms (missed cycles : 5). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058800 ms (missed cycles : 5).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459222 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459222 ms (missed cycles : 3).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321811 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321811 ms (missed cycles : 3).[0m ×2 + 17.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961640 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961640 ms (missed cycles : 2).[0m ×2 + 18.65sINFOobjective_server_nodeFound path in 4 iterations (0.00294505 s). ×2 + 18.72sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.75sINFOobjective_server_nodeFound path in 12 iterations (0.00589058 s). ×2 + 18.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.85sINFOobjective_server_nodeFound path in 2 iterations (0.00408262 s). ×2 + 18.89sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.91sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 18.95sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 19.01sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 19.03sINFOobjective_server_nodeFound path in 8 iterations (0.00330245 s). ×2 + 19.08sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 19.11sINFOobjective_server_nodeFound path in 2 iterations (0.00433652 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 19.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 19.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 19.23sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 19.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.29sINFOobjective_server_nodeFound path in 4 iterations (0.00497373 s). ×2 + 19.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.40sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629323 ms (missed cycles : 3). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629323 ms (missed cycles : 3).[0m ×2 + 19.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 19.48sINFOobjective_server_nodeFound path in 4 iterations (0.00290813 s). ×2 + 19.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.59sINFOobjective_server_nodeFound path in 1 iterations (0.00508558 s). ×2 + 19.65sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.67sINFOobjective_server_nodeFound path in 1 iterations (0.00287712 s). ×2 + 19.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 19.79sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 19.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.85sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 20.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 20.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.23sINFOros2_control_node[2026-08-21 04:55:49.882] [info] Received new action goal ×2 + 20.23sINFOros2_control_node[2026-08-21 04:55:49.882] [info] Accepted new action goal ×2 + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.238746 ms (missed cycles : 7). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.238746 ms (missed cycles : 7).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094174 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094174 ms (missed cycles : 2).[0m ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483306 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483306 ms (missed cycles : 2).[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335502 ms (missed cycles : 2). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335502 ms (missed cycles : 2).[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447550 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447550 ms (missed cycles : 2).[0m ×2 + 25.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830673 ms (missed cycles : 5). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830673 ms (missed cycles : 5).[0m ×2 + 26.35sINFOros2_control_node[2026-08-21 04:55:55.995] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-08-21 04:55:55.995] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788831 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788831 ms (missed cycles : 3).[0m ×2 + 27.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.71sINFOros2_control_node[2026-08-21 04:55:57.358] [info] Received new action goal ×2 + 27.71sINFOros2_control_node[2026-08-21 04:55:57.358] [info] Accepted new action goal ×2 + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409205 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409205 ms (missed cycles : 3).[0m ×2 + 28.75sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.78sINFOros2_control_node[2026-08-21 04:55:58.428] [info] Received new action goal ×2 + 28.78sINFOros2_control_node[2026-08-21 04:55:58.428] [info] Accepted new action goal ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3).[0m ×2 + 30.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3).[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2).[0m ×2 + 33.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787288162.65339828 seconds ×3 + 33.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3).[0m ×2 + 33.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787288163.32577729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.91sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 33.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.92sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Received new action goal ×2 + 33.92sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Accepted new action goal ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4).[0m ×2 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 15022 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2477 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2477 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4954 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4954 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683484 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683484 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239752 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239752 ms (missed cycles : 2).[0m ×2 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513362 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513362 ms (missed cycles : 2).[0m ×2 + 2.88sWARNros2_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 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284694 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284694 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288111.48832369 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787288112.12339067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018376 ms (missed cycles : 4). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018376 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:55:12.277] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:55:12.277] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440400 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440400 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.04sINFOobjective_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 + 6.06sINFOobjective_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 + 6.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954318 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954318 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325790 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325790 ms (missed cycles : 2).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060536 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060536 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675192 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675192 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811915 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811915 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843829 ms (missed cycles : 4). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843829 ms (missed cycles : 4).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123235 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123235 ms (missed cycles : 2).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805749 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805749 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991529 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991529 ms (missed cycles : 2).[0m ×2 + 15.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558847 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558847 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398486 ms (missed cycles : 6). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398486 ms (missed cycles : 6).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726233 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726233 ms (missed cycles : 2).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229412 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229412 ms (missed cycles : 3).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409667 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409667 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382149 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382149 ms (missed cycles : 3).[0m ×2 + 22.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6).[0m ×2 + 26.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288133.60279226 seconds ×3 + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2).[0m ×2 + 26.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787288134.23317790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.86sINFOobjective_server_nodeFound path in 5 iterations (0.00590758 s). ×2 + 26.93sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.95sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Accepted new action goal ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2).[0m ×2 + 27.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.7s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sERRORobjective_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: 1787287938.17834902 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461722 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461722 ms (missed cycles : 5).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248941 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248941 ms (missed cycles : 4).[0m ×2 + 8.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782154 ms (missed cycles : 4). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782154 ms (missed cycles : 4).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836639 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836639 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626394 ms (missed cycles : 8). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626394 ms (missed cycles : 8).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192156 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192156 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372081 ms (missed cycles : 7). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372081 ms (missed cycles : 7).[0m ×2 + 13.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.58sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 13.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.65sINFOobjective_server_nodeFound path in 1 iterations (0.00305035 s). ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.83sINFOros2_control_node[2026-08-21 04:52:29.905] [info] Received new action goal ×2 + 13.83sINFOros2_control_node[2026-08-21 04:52:29.905] [info] Accepted new action goal ×2 + 14.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665848 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665848 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603000 ms (missed cycles : 4). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603000 ms (missed cycles : 4).[0m ×2 + 16.31sINFOros2_control_node[2026-08-21 04:52:32.378] [info] Received new action goal ×2 + 16.31sINFOros2_control_node[2026-08-21 04:52:32.378] [info] Accepted new action goal ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179676 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179676 ms (missed cycles : 3).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 18.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.22sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 18.22sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 19.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 20.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 20.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 20.95sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.06sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 21.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.08sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 21.08sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 59 warnings · 186 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2).[0m ×2 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.56sINFOobjective_server_nodeFound path in 1 iterations (0.00306882 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.75sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Accepted new action goal ×2 + 1.18sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Received new action goal ×2 + 1.18sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Accepted new action goal ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2).[0m ×2 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.64sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787287989.27324128 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.39sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787287989.92742801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.63sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5).[0m ×2 + 7.12sINFOros2_control_node[2026-08-21 04:53:12.613] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-08-21 04:53:12.613] [info] Accepted new action goal ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236163 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236163 ms (missed cycles : 3).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281963 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281963 ms (missed cycles : 4).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098157 ms (missed cycles : 5). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098157 ms (missed cycles : 5).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492258 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492258 ms (missed cycles : 2).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4).[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787288001.18484211 seconds ×3 + 16.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 17.04sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.16sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 17.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.16sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 17.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356064 ms (missed cycles : 3).[0m ×2 + 0.85sINFOobjective_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 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.85sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.85sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.85sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.85sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197896 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197896 ms (missed cycles : 4).[0m ×2 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-08-21 04:54:14.109] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-08-21 04:54:14.109] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215245 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215245 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787288055.26594496 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947334 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947334 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787288056.14109993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083427 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083427 ms (missed cycles : 5).[0m ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.96sINFOros2_control_node[2026-08-21 04:54:17.345] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-08-21 04:54:17.345] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427853 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427853 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707919 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707919 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398396 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398396 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584336 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584336 ms (missed cycles : 3).[0m ×2 + 8.66sINFOobjective_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 + 8.66sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.66sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.66sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.66sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940160 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940160 ms (missed cycles : 4).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202540 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202540 ms (missed cycles : 3).[0m ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.08sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Accepted new action goal ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4).[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787288067.06131649 seconds ×3 + 14.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4).[0m ×2 + 15.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787288067.67809796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.46sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5).[0m ×2 + 16.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 61 errors · 39 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_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 + 0.53sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 0.53sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 0.53sERRORobjective_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: 1787288218.66410446 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288221.85725093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288222.73740458 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.49sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716964 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716964 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622651 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622651 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611168 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611168 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575211 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575211 ms (missed cycles : 3).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296068 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296068 ms (missed cycles : 3).[0m ×2 + 10.49sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.51sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_video_auth_proxy-23process has died [pid 9098, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.51sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.53sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge_auth_proxy-22process has died [pid 9097, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.53sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.55sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.57sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.58sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.59sINFOvideo_server-21process has finished cleanly [pid 9096] ×2 + 10.59sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.60sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.61sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.63sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.64sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.64sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.66sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.67sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.68sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.69sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.71sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.71sINFOcontroller_managerShutdown request received.... + 10.71sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.71sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.71sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.71sINFOvideo_server2026/08/21 04:57:08 INF shutting down gracefully ×2 + 10.71sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.71sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.71sINFOvideo_server2026/08/21 04:57:08 INF [WebRTC] closing ×2 + 10.71sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.71sINFOvideo_server2026/08/21 04:57:08 INF [RTSP] closing ×2 + 10.71sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.71sINFOvideo_server2026/08/21 04:57:08 INF waiting for running hooks ×2 + 10.71sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.71sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOcontroller_managerShutting down the controller manager. + 10.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.72sERRORmove_groupStack trace (most recent call last) in thread 9470: ×2 + 10.72sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.72sERRORmove_group-9process has died [pid 9021, 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_iemt37bw --params-file /tmp/launch_params_2gmg_dcu --params-file /tmp/launch_params_1gtq5s7t --params-file /tmp/launch_params_1wo560k7 --params-file /tmp/launch_params_f_34t0te --params-file /tmp/launch_params_mmkepb8t']. ×2 + 10.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53180a2a63, in __clone ×2 + 10.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5318015aa3, in ×2 + 10.72sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f53182a7db3, in ×2 + 10.72sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f5318a18637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.72sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5318639620, in rclcpp::Rate::sleep() ×2 + 10.72sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f531857bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f531853d087, in ×2 + 10.72sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5318276390, in __cxa_throw ×2 + 10.72sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5318260a54, in std::terminate() ×2 + 10.72sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f53182760d9, in ×2 + 10.72sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5318260ff4, in ×2 + 10.72sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5317fa18fe, in abort ×2 + 10.72sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5317fbe27d, in raise ×2 + 10.72sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5318017b2c, in pthread_kill ×2 + 10.72sERRORmove_groupAborted (Signal sent by tkill() 9021 0) ×2 + 10.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.92sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.92sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.92sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.61sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9095] ×2 + 11.61sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.69sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9025] ×2 + 11.70sINFOui_teleop_bridge-18process has finished cleanly [pid 9030] ×2 + 11.70sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9024] ×2 + 11.70sINFOexecute_objective_bridge-17process has finished cleanly [pid 9029] ×2 + 11.71sINFOcomponent_container_mt-16process has finished cleanly [pid 9028] ×2 + 11.74sINFOwaypoint_manager_node-11process has finished cleanly [pid 9023] ×2 + 11.75sINFOparameter_manager_node-10process has finished cleanly [pid 9022] ×2 + 11.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.77sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.85sINFOobjective_server_node[0;m[2026-08-21 04:57:09.985] [moveit_pro_license] [critical] ×2 + 11.85sINFOobjective_server_node************************************************* ×4 + 11.85sINFOobjective_server_node* MoveIt Pro License ×2 + 11.85sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.42sINFOobjective_server_node_main-14process has finished cleanly [pid 9026] ×2 + 12.42sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.81sINFOcomponent_container_mt-15process has finished cleanly [pid 9027] ×2 + 13.06sINFOweb_bridge-19process has finished cleanly [pid 9031] ×2 + 13.07sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.34sINFOros2_control_node-1process has finished cleanly [pid 8984] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 63 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.62sERRORobjective_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: 1787288206.15921140 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_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 `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027747 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027747 ms (missed cycles : 2).[0m ×2 + 8.11sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.11sINFOros2_control_node[2026-08-21 04:56:51.653] [info] Received new action goal ×2 + 8.11sINFOros2_control_node[2026-08-21 04:56:51.653] [info] Accepted new action goal ×2 + 8.11sINFOros2_control_node[2026-08-21 04:56:51.653] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143427 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143427 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527675 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527675 ms (missed cycles : 4).[0m ×2 + 9.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.268927 ms (missed cycles : 8). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.268927 ms (missed cycles : 8).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 14.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 15.12sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 15.12sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 15.12sERRORobjective_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: 1787288218.66410446 seconds ×3 + 15.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 16.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 16.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.99sINFOobjective_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 + 16.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 17.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954479 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954479 ms (missed cycles : 2).[0m ×2 + 0.54sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.82sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.82sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.82sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787287976.09817696 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729182 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729182 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873981 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873981 ms (missed cycles : 4).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840455 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840455 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787287978.77879477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-21 04:52:58.982] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-21 04:52:58.982] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438105 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438105 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278714 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278714 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149333 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149333 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.42sINFOobjective_server_nodeFound path in 1 iterations (0.00323059 s). ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686791 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686791 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 1 iterations (0.00384989 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.01sINFOros2_control_node[2026-08-21 04:53:03.265] [info] Received new action goal ×2 + 8.01sINFOros2_control_node[2026-08-21 04:53:03.265] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712003 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712003 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232002 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232002 ms (missed cycles : 6).[0m ×2 + 10.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 10.71sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2).[0m ×2 + 10.72sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 10.79sINFOobjective_server_nodeFound path in 1 iterations (0.00306882 s). ×2 + 10.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 10.98sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Accepted new action goal ×2 + 11.42sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Accepted new action goal ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3).[0m ×2 + 13.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.88sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Received new action goal ×2 + 13.88sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3).[0m ×2 + 14.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Got request to cancel active goal. ×2 + 14.01sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Canceling active goal... ×2 + 14.02sERRORobjective_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: 1787287989.27324128 seconds ×3 + 14.63sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787287989.92742801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.87sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3).[0m ×2 + 16.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 60 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3).[0m ×2 + 1.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3).[0m ×2 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787288162.65339828 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787288163.32577729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697460 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697460 ms (missed cycles : 2).[0m ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501351 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501351 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.00276586 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.14sINFOros2_control_node[2026-08-21 04:56:07.972] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-08-21 04:56:07.972] [info] Accepted new action goal ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160501 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160501 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808781 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808781 ms (missed cycles : 2).[0m ×2 + 11.06sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 11.62sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 13.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.53sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 13.53sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 14.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 14.83sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 14.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 15.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 15.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 15.67sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 17.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787288195.18257284 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787288195.78890014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555400 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555400 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237681 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237681 ms (missed cycles : 4).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256225 ms (missed cycles : 4). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256225 ms (missed cycles : 4).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865645 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865645 ms (missed cycles : 2).[0m ×2 + 10.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 14.49sINFOobjective_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 + 14.50sERRORobjective_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: 1787288206.15921140 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 15.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 15.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 16.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 16.67sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 16.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.68sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 107 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 + 7.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582559 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582559 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987458 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987458 ms (missed cycles : 4).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818657 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818657 ms (missed cycles : 4).[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5).[0m ×2 + 13.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2).[0m ×2 + 14.77sERRORobjective_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: 1787288184.65624928 seconds ×3 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 15.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787288185.28010654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 15.68sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.69sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Received new action goal ×2 + 15.69sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Accepted new action goal ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.80 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 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.61sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.63sINFOros2_control_node[2026-08-21 04:52:10.530] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-08-21 04:52:10.530] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090679 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090679 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799404 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799404 ms (missed cycles : 3).[0m ×2 + 8.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444547 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444547 ms (missed cycles : 4).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777968 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777968 ms (missed cycles : 2).[0m ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 10.36sINFOros2_control_node[2026-08-21 04:52:14.260] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-08-21 04:52:14.260] [info] Accepted new action goal ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 13.67sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 13.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.70sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 13.70sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 14.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 14.26sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 14.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787287938.17834902 seconds ×3 + 14.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 14.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.84sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306264 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306264 ms (missed cycles : 5).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311723 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311723 ms (missed cycles : 2).[0m ×2 + 7.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (7.11e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 1 iterations (0.00377549 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 1 iterations (0.00399986 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286240 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286240 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (1.023e-06 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.92sINFOros2_control_node[2026-08-21 04:52:53.380] [info] Received new action goal ×2 + 8.92sINFOros2_control_node[2026-08-21 04:52:53.380] [info] Accepted new action goal ×2 + 9.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732429 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732429 ms (missed cycles : 3).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954479 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954479 ms (missed cycles : 2).[0m ×2 + 11.33sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.61sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.61sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.61sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787287976.09817696 seconds ×3 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729182 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729182 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873981 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873981 ms (missed cycles : 4).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840455 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840455 ms (missed cycles : 4).[0m ×2 + 14.31sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787287978.77879477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 14.52sINFOros2_control_node[2026-08-21 04:52:58.982] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-08-21 04:52:58.982] [info] Accepted new action goal ×2 + 15.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438105 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438105 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278714 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278714 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941215 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941215 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.76sINFOros2_control_node[2026-08-21 04:52:40.497] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-21 04:52:40.497] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130586 ms (missed cycles : 6). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.130586 ms (missed cycles : 6).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.106398 ms (missed cycles : 7). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.106398 ms (missed cycles : 7).[0m ×2 + 8.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.10sINFOros2_control_node[2026-08-21 04:52:42.834] [info] Received new action goal ×2 + 9.10sINFOros2_control_node[2026-08-21 04:52:42.834] [info] Accepted new action goal ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185235 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185235 ms (missed cycles : 3).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 11.43sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 11.45sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 11.45sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 13.51sINFOobjective_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 + 13.51sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 13.51sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 13.53sERRORobjective_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: 1787287967.26597261 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 14.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.36sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sERRORobjective_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: 1787288184.65624928 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787288185.28010654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.58sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716867 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716867 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025118 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025118 ms (missed cycles : 2).[0m ×2 + 8.59sINFOros2_control_node[2026-08-21 04:56:29.597] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-08-21 04:56:29.597] [info] Accepted new action goal ×2 + 9.27sWARNros2_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 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174480 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174480 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3).[0m ×2 + 14.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787288195.18257284 seconds ×3 + 14.78sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787288195.78890014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3).[0m ×2 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.91sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Accepted new action goal ×2 + 15.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2).[0m ×2 + 16.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.7s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787288004.65679073 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787288006.25569725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[2026-08-21 04:53:27.738] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 7.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.63sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.11sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.11sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.27sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.32sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.32sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.38sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.74sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.76sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.76sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 10.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 11.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.28sINFOobjective_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 + 11.29sINFOobjective_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 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.63sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 11.63sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 29 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787288001.18484211 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 4.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 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 4.121747 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787288004.65679073 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4).[0m ×2 + 7.42sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787288006.25569725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2).[0m ×2 + 8.90sINFOobjective_server_node[2026-08-21 04:53:27.738] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2).[0m ×2 + 9.67sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.67sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 36 warnings · 559 info |
+ 0.00sINFOobjective_server_node[2026-08-21 04:51:59.526] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.11sINFOobjective_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 + 0.11sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.33sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.33sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.33sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.33sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.33sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.33sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.33sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.33sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.33sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.33sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.33sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.33sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.33sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.34sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.34sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.34sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.34sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.34sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOcomponent_container_mt[2026-08-21 04:51:59.944] [moveit_pro_license] [info] ×2 + 0.42sINFOcomponent_container_mt************************************************* ×4 + 0.42sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.42sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.65sINFOros2_control_node[2026-08-21 04:52:00.172] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-08-21 04:52:00.173] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.86sINFOros2_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 + 0.87sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.87sWARNros2_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 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2-7process has finished cleanly [pid 8990] ×2 + 1.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.04sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-08-21 04:52:00.594] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-21 04:52:00.595] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618515 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618515 ms (missed cycles : 3).[0m ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 8991] ×2 + 1.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.43sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.43sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.43sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2-4process has finished cleanly [pid 8987] ×2 + 1.77sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.77sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.10sWARNobjective_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 + 2.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 2.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 2.17sINFOros2-3process has finished cleanly [pid 8986] ×2 + 2.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.19sINFOforce_torque_sensor_broadcasterconfigure successful + 2.19sINFOros2_control_nodeconfigure successful[0m ×2 + 2.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.52sINFOros2-2process has finished cleanly [pid 8985] ×2 + 2.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 2.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 2.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.92sINFOros2-5process has finished cleanly [pid 8988] ×2 + 2.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 2.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 3.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.04sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.06sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.06sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 3.07sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.39sINFOros2-6process has finished cleanly [pid 8989] ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.38sWARNros2_control_nodeCamera render tick took 1.80 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 + 4.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 7.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787288218.66410446 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288221.85725093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288222.73740458 seconds ×3 + 7.81sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sERRORobjective_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: 1787287938.17834902 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_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 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 100 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2).[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787288001.18484211 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.24sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787288004.65679073 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sINFOobjective_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 + 1.56sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1787288218.66410446 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 ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.43sINFOobjective_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 + 3.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288221.85725093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288222.73740458 seconds ×3 + 5.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNros2_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 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716964 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716964 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-21 04:52:32.378] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 04:52:32.378] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179676 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179676 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.77sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_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: 1787288206.15921140 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 30 warnings · 439 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8991] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8987] ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.39sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.72sWARNobjective_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 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.79sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 8985] ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOros2-5process has finished cleanly [pid 8988] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOros2-6process has finished cleanly [pid 8989] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sWARNros2_control_nodeCamera render tick took 1.80 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.12sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sERRORobjective_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: 1787288206.15921140 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_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 `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 2.68sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1787288218.66410446 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 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 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288221.85725093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607008 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288222.73740458 seconds ×3 + 6.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 25 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 + 6.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_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: 1787288206.15921140 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 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 · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 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 · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 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 · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000796 ms (missed cycles : 2).[0m ×2 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.56sINFOobjective_server_nodeFound path in 1 iterations (0.00306882 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-21 04:53:06.236] [info] Accepted new action goal ×2 + 1.18sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Received new action goal ×2 + 1.18sINFOros2_control_node[2026-08-21 04:53:06.668] [info] Accepted new action goal ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007453 ms (missed cycles : 2).[0m ×2 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.64sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-21 04:53:09.132] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312139 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:53:09.259] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787287989.27324128 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787287989.92742801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.63sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 04:53:10.121] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514850 ms (missed cycles : 6).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357812 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962876 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 97 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921738 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671016 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811518 ms (missed cycles : 2).[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994290 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787288001.18484211 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.24sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-21 04:54:23.456] [info] Accepted new action goal ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852660 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226493 ms (missed cycles : 2).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609785 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787288067.06131649 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785581 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787288067.67809796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.50sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-21 04:54:27.842] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327486 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_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 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3).[0m ×2 + 1.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3).[0m ×2 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.02sINFOros2_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 2.760319 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787288162.65339828 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787288163.32577729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333504 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370989 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219113 ms (missed cycles : 5).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132314 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sERRORobjective_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: 1787288184.65624928 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666124 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787288185.28010654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.58sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-21 04:56:25.579] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685296 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653588 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sERRORobjective_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: 1787288206.15921140 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_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 `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sERRORobjective_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: 1787288206.15921140 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_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 `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sERRORobjective_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: 1787287938.17834902 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_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 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807776 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sERRORobjective_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: 1787287938.17834902 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_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 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sERRORobjective_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: 1787287938.17834902 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sERRORobjective_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: 1787287938.17834902 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sERRORobjective_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: 1787287938.17834902 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194635 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343572 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-21 04:52:17.596] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-08-21 04:52:18.157] [info] Canceling active goal... ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sERRORobjective_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: 1787287938.17834902 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504041 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787287938.81330085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787287938.92342019 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269556 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787287939.54449677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-21 04:52:19.741] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300815 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870858 ms (missed cycles : 5).[0m ×2 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-21 04:52:34.294] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813814 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787287955.67655373 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058014 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787287956.29320168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787287956.38341641 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367600 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787287957.02312016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-21 04:52:37.147] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290113 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587681 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174358 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.184] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-21 04:52:45.185] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657256 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010124 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-21 04:52:47.253] [info] Canceling active goal... ×2 + 2.80sERRORobjective_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: 1787287967.26597261 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737270 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787287967.90346360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 04:52:48.097] [info] Accepted new action goal ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875799 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784641 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 | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787288001.84909511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787288001.92922902 seconds ×3 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747185 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787288002.52665997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-21 04:53:22.650] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436134 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121747 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787288004.65679073 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007361 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787288006.25569725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927659 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[2026-08-21 04:53:27.738] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265225 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504625726 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-21 04:53:28.504665927 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114315 ms (missed cycles : 3).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOobjective_server_node[2026-08-21 04:53:29.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956035783 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-21 04:53:29.956076375 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-08-21 04:53:30.117] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-08-21 04:53:30.167905640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170796281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-21 04:53:30.170823873 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-21 04:53:30.232] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.08sINFOobjective_server_node[0;93m2026-08-21 04:53:30.587815101 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609445618 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.10sINFOobjective_server_node[0;93m2026-08-21 04:53:30.609476163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803395 ms (missed cycles : 4).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419369 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787288012.36297274 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787288013.04572392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.62sINFOobjective_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 + 4.63sINFOobjective_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 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396609 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-21 04:53:33.476] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973736 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751397 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 · 2751 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×447 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×447 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×894 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×894 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288133.60279226 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787288134.23317790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ] + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOobjective_server_nodeFound path in 5 iterations (0.00590758 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2751 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×447 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×447 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×894 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×894 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699684 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324883 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970226 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289866 ms (missed cycles : 6).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787288133.60279226 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782867 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787288134.23317790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ] + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOobjective_server_nodeFound path in 5 iterations (0.00590758 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 04:55:34.488] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749156 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420613 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395534 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964771 ms (missed cycles : 3).[0m ×2 + 1.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659320 ms (missed cycles : 3).[0m ×2 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.02sINFOros2_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 2.760319 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760319 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787288162.65339828 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388005 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787288163.32577729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-21 04:56:03.569] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364223 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183165 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-21 04:56:10.445] [info] Accepted new action goal ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964104 ms (missed cycles : 3).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-08-21 04:56:12.359] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237458 ms (missed cycles : 4).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678158 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Got request to cancel active goal. ×2 + 3.77sINFOros2_control_node[2026-08-21 04:56:13.656] [info] Canceling active goal... ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787288173.66065025 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787288174.32572198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299203 ms (missed cycles : 2).[0m ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-21 04:56:14.500] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393783 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361578 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735308 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291075 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645766 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667580 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787288195.18257284 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787288195.78890014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709443 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-21 04:56:35.913] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695993 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_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: 1787288206.15921140 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_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: 1787288206.15921140 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854140 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_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: 1787288206.15921140 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690443 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028882 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sERRORobjective_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: 1787288206.15921140 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_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 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285421 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787288206.81524563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_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 `Reset MuJoCo Robot` succeeded at time: 1787288206.89537334 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787288207.48772955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787288207.51040864 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818598 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787288208.22938299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 04:56:48.343] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691305 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787288218.66410446 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200783 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607637 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324367 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639099 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-21 04:56:58.659] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787288218.66410446 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288219.26014566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228110 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288219.94027138 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787288220.53449416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787288220.53634095 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.275577 ms (missed cycles : 7).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787288221.26022553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787288221.26070404 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139304 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.9s | 42 warnings · 623 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/2026-08-21-04-51-53-793933-c946c449d195-8936 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.76sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.77sINFOcontroller_managerupdate rate is 600 Hz + 1.77sINFOcontroller_managerOverruns handling is : enabled + 1.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.77sWARNcontroller_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. + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180210 ms (missed cycles : 6). + 1.96sINFOros2_control_node-1process started with pid [8984] ×2 + 1.97sINFOmove_group-9process started with pid [9021] ×2 + 1.99sINFOparameter_manager_node-10process started with pid [9022] ×2 + 1.99sINFOwaypoint_manager_node-11process started with pid [9023] ×2 + 1.99sINFOmove_joint_resampler_node-12process started with pid [9024] ×2 + 1.99sINFOmove_end_effector_resampler_node-13process started with pid [9025] ×2 + 1.99sINFOobjective_server_node_main-14process started with pid [9026] ×2 + 1.99sINFOcomponent_container_mt-15process started with pid [9027] ×2 + 1.99sINFOcomponent_container_mt-16process started with pid [9028] ×2 + 1.99sINFOexecute_objective_bridge-17process started with pid [9029] ×2 + 1.99sINFOui_teleop_bridge-18process started with pid [9030] ×2 + 1.99sINFOweb_bridge-19process started with pid [9031] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9095] ×2 + 1.99sINFOvideo_server-21process started with pid [9096] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [9097] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [9098] ×2 + 2.00sINFOros2-2process started with pid [8985] ×2 + 2.00sINFOros2-3process started with pid [8986] ×2 + 2.00sINFOros2-4process started with pid [8987] ×2 + 2.00sINFOcontroller_managerReceived robot description from topic. + 2.00sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.00sINFOros2-5process started with pid [8988] ×2 + 2.00sINFOros2-6process started with pid [8989] ×2 + 2.00sINFOros2-7process started with pid [8990] ×2 + 2.00sINFOros2-8process started with pid [8991] ×2 + 2.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.04sWARNros2_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 + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180210 ms (missed cycles : 6).[0m ×2 + 2.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF configuration loaded from /tmp/moveit-webrtc-y9yinfq6/mediamtx.yml ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.57sINFOvideo_server2026/08/21 04:51:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733084 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733084 ms (missed cycles : 4).[0m ×2 + 3.09sINFOwaypoint_manager_node[2026-08-21 04:51:57.614] [moveit_pro_license] [info] ×2 + 3.09sINFOwaypoint_manager_node************************************************* ×4 + 3.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.19sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOmove_group[2026-08-21 04:51:57.821] [moveit_pro_license] [info] ×2 + 3.30sINFOmove_group************************************************* ×4 + 3.30sINFOmove_group* MoveIt Pro License ×2 + 3.30sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.40sINFOros2_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 + 3.40sINFOros2_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 + 3.64sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.80sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 4.03sINFOmove_group ×4 + 4.03sINFOmove_group[92mYou can start planning now![0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123571 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123571 ms (missed cycles : 2).[0m ×2 + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.00sINFOobjective_server_node[2026-08-21 04:51:59.526] [moveit_pro_license] [info] ×2 + 5.00sINFOobjective_server_node************************************************* ×4 + 5.00sINFOobjective_server_node* MoveIt Pro License ×2 + 5.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.11sINFOobjective_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 + 5.11sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.33sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.33sWARNros2_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 + 5.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.33sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.33sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.33sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.33sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.34sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.34sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.34sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.42sINFOcomponent_container_mt[2026-08-21 04:51:59.944] [moveit_pro_license] [info] ×2 + 5.42sINFOcomponent_container_mt************************************************* ×4 + 5.42sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.42sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 5.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 5.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.63sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.65sINFOros2_control_node[2026-08-21 04:52:00.172] [info] Controller state will be published at 10 Hz. ×2 + 5.65sINFOros2_control_node[2026-08-21 04:52:00.173] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.87sINFOros2_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 + 5.87sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.87sWARNros2_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 + 5.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.97sINFOros2-7process has finished cleanly [pid 8990] ×2 + 6.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 6.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 6.04sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.07sINFOros2_control_node[2026-08-21 04:52:00.594] [info] Controller state will be published at 20 Hz. ×2 + 6.07sINFOros2_control_node[2026-08-21 04:52:00.595] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618515 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618515 ms (missed cycles : 3).[0m ×2 + 6.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 6.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 6.40sINFOros2-8process has finished cleanly [pid 8991] ×2 + 6.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.43sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.45sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.77sINFOros2-4process has finished cleanly [pid 8987] ×2 + 6.77sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 6.77sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 6.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.10sWARNobjective_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 + 7.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 7.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 7.17sINFOros2-3process has finished cleanly [pid 8986] ×2 + 7.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.19sINFOforce_torque_sensor_broadcasterconfigure successful + 7.19sINFOros2_control_nodeconfigure successful[0m ×2 + 7.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 7.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.52sINFOros2-2process has finished cleanly [pid 8985] ×2 + 7.53sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 7.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 7.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.92sINFOros2-5process has finished cleanly [pid 8988] ×2 + 7.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 7.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 8.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.04sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.04sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.06sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.06sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 8.07sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 8.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.39sINFOros2-6process has finished cleanly [pid 8989] ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 8.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.38sWARNros2_control_nodeCamera render tick took 1.80 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 10.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 11.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 11.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 281 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8988] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.58sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 7.44sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 27 warnings · 381 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOforce_torque_sensor_broadcasterconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 0.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.42sINFOros2-2process has finished cleanly [pid 8985] ×2 + 0.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.82sINFOros2-5process has finished cleanly [pid 8988] ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.96sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.29sINFOros2-6process has finished cleanly [pid 8989] ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.80 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 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 4.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 279 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8988] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.58sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 413 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8991] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8987] ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.39sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.72sWARNobjective_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 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.79sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 8985] ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOros2-5process has finished cleanly [pid 8988] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOros2-6process has finished cleanly [pid 8989] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sWARNros2_control_nodeCamera render tick took 1.80 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 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/2026-08-21-04-51-53-793933-c946c449d195-8936 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.76sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.77sINFOcontroller_managerupdate rate is 600 Hz + 1.77sINFOcontroller_managerOverruns handling is : enabled + 1.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.77sWARNcontroller_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. + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180210 ms (missed cycles : 6). + 1.96sINFOros2_control_node-1process started with pid [8984] ×2 + 1.97sINFOmove_group-9process started with pid [9021] ×2 + 1.99sINFOparameter_manager_node-10process started with pid [9022] ×2 + 1.99sINFOwaypoint_manager_node-11process started with pid [9023] ×2 + 1.99sINFOmove_joint_resampler_node-12process started with pid [9024] ×2 + 1.99sINFOmove_end_effector_resampler_node-13process started with pid [9025] ×2 + 1.99sINFOobjective_server_node_main-14process started with pid [9026] ×2 + 1.99sINFOcomponent_container_mt-15process started with pid [9027] ×2 + 1.99sINFOcomponent_container_mt-16process started with pid [9028] ×2 + 1.99sINFOexecute_objective_bridge-17process started with pid [9029] ×2 + 1.99sINFOui_teleop_bridge-18process started with pid [9030] ×2 + 1.99sINFOweb_bridge-19process started with pid [9031] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9095] ×2 + 1.99sINFOvideo_server-21process started with pid [9096] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [9097] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [9098] ×2 + 2.00sINFOros2-2process started with pid [8985] ×2 + 2.00sINFOros2-3process started with pid [8986] ×2 + 2.00sINFOros2-4process started with pid [8987] ×2 + 2.00sINFOcontroller_managerReceived robot description from topic. + 2.00sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.00sINFOros2-5process started with pid [8988] ×2 + 2.00sINFOros2-6process started with pid [8989] ×2 + 2.00sINFOros2-7process started with pid [8990] ×2 + 2.00sINFOros2-8process started with pid [8991] ×2 + 2.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.04sWARNros2_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 + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180210 ms (missed cycles : 6).[0m ×2 + 2.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF configuration loaded from /tmp/moveit-webrtc-y9yinfq6/mediamtx.yml ×2 + 2.56sINFOvideo_server2026/08/21 04:51:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.57sINFOvideo_server2026/08/21 04:51:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8991] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8987] ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.39sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.72sWARNobjective_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 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.79sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 8985] ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOros2-5process has finished cleanly [pid 8988] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOros2-6process has finished cleanly [pid 8989] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sWARNros2_control_nodeCamera render tick took 1.80 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 381 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOforce_torque_sensor_broadcasterconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 0.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.42sINFOros2-2process has finished cleanly [pid 8985] ×2 + 0.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.82sINFOros2-5process has finished cleanly [pid 8988] ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.96sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.29sINFOros2-6process has finished cleanly [pid 8989] ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.80 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 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 4.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8991] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8987] ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.39sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.72sWARNobjective_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 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 0.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 0.79sINFOros2-3process has finished cleanly [pid 8986] ×2 + 0.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024525 ms (missed cycles : 2).[0m ×2 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 8985] ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOros2-5process has finished cleanly [pid 8988] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 + 1.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__e0jukk1 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wmh7wxq5 --params-file /tmp/launch_params_7g1kpb56 [0m ×2 + 1.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_node[2026-08-21 04:52:02.563] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.586] [info] Controller state will be published at 50 Hz. ×2 + 1.68sINFOros2_control_node[2026-08-21 04:52:02.591] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287922.69313741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287922.70335484 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOros2-6process has finished cleanly [pid 8989] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sWARNros2_control_nodeCamera render tick took 1.80 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 231 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8989] ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064076 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787287923.28901172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sWARNros2_control_nodeCamera render tick took 1.80 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787287924.34913993 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191975 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787287924.97175670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787287925.03193259 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824735 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287925.68623424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287925.69635367 seconds ×3 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287926.41592503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961114 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287926.56645441 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287927.23794436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287927.27806759 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663904 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787287927.87653279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3369e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 04:52:08.023] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722757 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911105 ms (missed cycles : 4).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||