128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 164 warnings · 18636 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789187560.40779066 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5).[0m ×2 + 3.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789187561.03026175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.68sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2).[0m ×2 + 7.19sINFOjoint_trajectory_controllerReceived new action goal ×3062 + 7.19sINFOjoint_trajectory_controllerAccepted new action goal ×3062 + 7.19sINFOros2_control_nodeReceived new action goal[0m ×6124 + 7.19sINFOros2_control_nodeAccepted new action goal[0m ×6124 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355069 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355069 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921328 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921328 ms (missed cycles : 2).[0m ×2 + 8.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743112 ms (missed cycles : 4). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743112 ms (missed cycles : 4).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578967 ms (missed cycles : 5). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578967 ms (missed cycles : 5).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693886 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693886 ms (missed cycles : 2).[0m ×2 + 12.03sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.03sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.03sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462160 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462160 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365824 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365824 ms (missed cycles : 2).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762503 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762503 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742978 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742978 ms (missed cycles : 2).[0m ×2 + 16.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.64 s); wrist_camera (1.64 s). The render path has stopped producing new frames for them.[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146424 ms (missed cycles : 6). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146424 ms (missed cycles : 6).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879821 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879821 ms (missed cycles : 2).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779168 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779168 ms (missed cycles : 2).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657396 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657396 ms (missed cycles : 2).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762246 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762246 ms (missed cycles : 2).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153346 ms (missed cycles : 2). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153346 ms (missed cycles : 2).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553350 ms (missed cycles : 3). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553350 ms (missed cycles : 3).[0m ×2 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761013 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761013 ms (missed cycles : 2).[0m ×2 + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697488 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697488 ms (missed cycles : 2).[0m ×2 + 25.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675774 ms (missed cycles : 2). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675774 ms (missed cycles : 2).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463758 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463758 ms (missed cycles : 2).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316273 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316273 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673928 ms (missed cycles : 3). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673928 ms (missed cycles : 3).[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729259 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729259 ms (missed cycles : 2).[0m ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005110 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005110 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032769 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032769 ms (missed cycles : 2).[0m ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341901 ms (missed cycles : 3). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341901 ms (missed cycles : 3).[0m ×2 + 33.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982745 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982745 ms (missed cycles : 2).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841372 ms (missed cycles : 2). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841372 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422663 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422663 ms (missed cycles : 2).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644937 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644937 ms (missed cycles : 2).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409707 ms (missed cycles : 2). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409707 ms (missed cycles : 2).[0m ×2 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301807 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301807 ms (missed cycles : 2).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620538 ms (missed cycles : 2). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620538 ms (missed cycles : 2).[0m ×2 + 40.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087739 ms (missed cycles : 4). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087739 ms (missed cycles : 4).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219917 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219917 ms (missed cycles : 2).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549477 ms (missed cycles : 3). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549477 ms (missed cycles : 3).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664308 ms (missed cycles : 4). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664308 ms (missed cycles : 4).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007855 ms (missed cycles : 2). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007855 ms (missed cycles : 2).[0m ×2 + 46.44sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816985 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816985 ms (missed cycles : 2).[0m ×2 + 47.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187604.93266869 seconds ×3 + 47.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081880 ms (missed cycles : 4). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081880 ms (missed cycles : 4).[0m ×2 + 47.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 47.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.96sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789187605.56842446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.11sINFOobjective_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 + 48.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 48.21sINFOros2_control_node[2026-09-12 04:33:25.733] [info] Received new action goal ×2 + 48.21sINFOros2_control_node[2026-09-12 04:33:25.733] [info] Accepted new action goal ×2 + 48.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2).[0m ×2 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243308 ms (missed cycles : 5). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243308 ms (missed cycles : 5).[0m ×2 + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527264 ms (missed cycles : 3). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527264 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×4 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100768 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100768 ms (missed cycles : 3).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-12 04:31:49.194] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-12 04:31:49.194] [info] Accepted new action goal ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875457 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875457 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873038 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873038 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681717 ms (missed cycles : 5). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681717 ms (missed cycles : 5).[0m ×2 + 10.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.44sINFOros2_control_node[2026-09-12 04:31:52.524] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-09-12 04:31:52.524] [info] Accepted new action goal ×2 + 10.75sWARNros2_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 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833847 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833847 ms (missed cycles : 2).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221066 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221066 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222953 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222953 ms (missed cycles : 3).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.47sINFOros2_control_node[2026-09-12 04:31:55.558] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-09-12 04:31:55.559] [info] Accepted new action goal ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644346 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644346 ms (missed cycles : 4).[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158326 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158326 ms (missed cycles : 4).[0m ×2 + 16.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.43sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719463 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719463 ms (missed cycles : 2).[0m ×2 + 17.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×6 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966214 ms (missed cycles : 5). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966214 ms (missed cycles : 5).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553171 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553171 ms (missed cycles : 2).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094492 ms (missed cycles : 5). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094492 ms (missed cycles : 5).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355413 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355413 ms (missed cycles : 2).[0m ×2 + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295306 ms (missed cycles : 2). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295306 ms (missed cycles : 2).[0m ×2 + 23.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 24.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.95sINFOros2_control_node[2026-09-12 04:32:07.037] [info] Received new action goal ×2 + 24.95sINFOros2_control_node[2026-09-12 04:32:07.037] [info] Accepted new action goal ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371032 ms (missed cycles : 4). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371032 ms (missed cycles : 4).[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804896 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804896 ms (missed cycles : 2).[0m ×2 + 26.13sINFOobjective_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 + 26.14sINFOobjective_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 + 26.42sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 26.47sINFOros2_control_node[2026-09-12 04:32:08.558] [info] Received new action goal ×2 + 26.47sINFOros2_control_node[2026-09-12 04:32:08.559] [info] Accepted new action goal ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667853 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667853 ms (missed cycles : 2).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714424 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714424 ms (missed cycles : 2).[0m ×2 + 28.77sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 28.77sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.78sINFOros2_control_node[2026-09-12 04:32:10.865] [info] Received new action goal ×2 + 28.78sINFOros2_control_node[2026-09-12 04:32:10.865] [info] Accepted new action goal ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721563 ms (missed cycles : 2). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721563 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150751 ms (missed cycles : 4). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150751 ms (missed cycles : 4).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146808 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146808 ms (missed cycles : 4).[0m ×2 + 31.92sINFOros2_control_node[2026-09-12 04:32:14.008] [info] Received new action goal ×2 + 31.92sINFOros2_control_node[2026-09-12 04:32:14.008] [info] Accepted new action goal ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141648 ms (missed cycles : 4). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141648 ms (missed cycles : 4).[0m ×2 + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386063 ms (missed cycles : 5). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386063 ms (missed cycles : 5).[0m ×2 + 34.52sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.57sINFOros2_control_node[2026-09-12 04:32:16.659] [info] Received new action goal ×2 + 34.57sINFOros2_control_node[2026-09-12 04:32:16.659] [info] Accepted new action goal ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813048 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813048 ms (missed cycles : 2).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340261 ms (missed cycles : 3). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340261 ms (missed cycles : 3).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523751 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523751 ms (missed cycles : 3).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289923 ms (missed cycles : 3). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289923 ms (missed cycles : 3).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836136 ms (missed cycles : 2). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836136 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685406 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685406 ms (missed cycles : 2).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761676 ms (missed cycles : 2). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761676 ms (missed cycles : 2).[0m ×2 + 41.70sWARNros2_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 + 41.87sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906547 ms (missed cycles : 2). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906547 ms (missed cycles : 2).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173024 ms (missed cycles : 4). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173024 ms (missed cycles : 4).[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102604 ms (missed cycles : 3). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102604 ms (missed cycles : 3).[0m ×2 + 45.31sINFOros2_control_node[2026-09-12 04:32:27.397] [info] Received new action goal ×2 + 45.31sINFOros2_control_node[2026-09-12 04:32:27.397] [info] Accepted new action goal ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153833 ms (missed cycles : 2). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153833 ms (missed cycles : 2).[0m ×2 + 46.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789187548.55381060 seconds ×3 + 47.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.07sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334113 ms (missed cycles : 4). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334113 ms (missed cycles : 4).[0m ×2 + 47.26sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789187549.35190582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964414 ms (missed cycles : 5). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964414 ms (missed cycles : 5).[0m ×2 + 48.51sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 48.54sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.56sINFOros2_control_node[2026-09-12 04:32:30.646] [info] Received new action goal ×2 + 48.56sINFOros2_control_node[2026-09-12 04:32:30.646] [info] Accepted new action goal ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586571 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586571 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 | 92 warnings · 13110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2152 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2152 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4304 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4304 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664308 ms (missed cycles : 4). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664308 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007855 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007855 ms (missed cycles : 2).[0m ×2 + 2.32sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816985 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816985 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187604.93266869 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_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_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081880 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081880 ms (missed cycles : 4).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789187605.56842446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:33:25.733] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:33:25.733] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_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 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243308 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243308 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527264 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527264 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802509 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802509 ms (missed cycles : 2).[0m ×2 + 8.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.61 s); wrist_camera (1.61 s). The render path has stopped producing new frames for them.[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752292 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752292 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810049 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810049 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314188 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314188 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002938 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002938 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208167 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208167 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716893 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716893 ms (missed cycles : 2).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727316 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727316 ms (missed cycles : 2).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671809 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671809 ms (missed cycles : 2).[0m ×2 + 16.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467605 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467605 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679803 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679803 ms (missed cycles : 2).[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737657 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737657 ms (missed cycles : 2).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860436 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860436 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907034 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907034 ms (missed cycles : 2).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815066 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815066 ms (missed cycles : 2).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 24.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 25.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 26.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 26.33sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 26.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.34sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 1 iterations (0.00465803 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.50sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.16sINFOobjective_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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187488.75582075 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789187489.55077744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2).[0m ×2 + 6.68sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Accepted new action goal ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006161 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006161 ms (missed cycles : 2).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383832 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383832 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250381 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250381 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882091 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882091 ms (missed cycles : 4).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789187500.81267524 seconds ×3 + 15.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789187501.48233628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789187501.54249430 seconds ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2).[0m ×2 + 16.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.69sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 16.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.71sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 16.71sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 18.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173024 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173024 ms (missed cycles : 4).[0m ×2 + 0.45sINFOobjective_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 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.45sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102604 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102604 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.37sINFOros2_control_node[2026-09-12 04:32:27.397] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-09-12 04:32:27.397] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153833 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153833 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789187548.55381060 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334113 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334113 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789187549.35190582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964414 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964414 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.62sINFOros2_control_node[2026-09-12 04:32:30.646] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-12 04:32:30.646] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586571 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586571 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968571 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968571 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951939 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951939 ms (missed cycles : 4).[0m ×2 + 8.32sINFOobjective_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 + 8.32sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.32sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.32sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.32sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149096 ms (missed cycles : 5). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149096 ms (missed cycles : 5).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678221 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678221 ms (missed cycles : 2).[0m ×2 + 9.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146593 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146593 ms (missed cycles : 4).[0m ×2 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.78sINFOros2_control_node[2026-09-12 04:32:36.802] [info] Received new action goal ×2 + 10.78sINFOros2_control_node[2026-09-12 04:32:36.802] [info] Accepted new action goal ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4).[0m ×2 + 14.38sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789187560.40779066 seconds ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5).[0m ×2 + 14.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.93sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789187561.03026175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.18sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5).[0m ×2 + 16.44sINFOobjective_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 + 16.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.3s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657674 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657674 ms (missed cycles : 3).[0m ×2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 1 iterations (0.0035293 s). ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744373 ms (missed cycles : 8). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744373 ms (missed cycles : 8).[0m ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.67sINFOros2_control_node[2026-09-12 04:30:49.516] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-09-12 04:30:49.516] [info] Accepted new action goal ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055082 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055082 ms (missed cycles : 2).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648037 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648037 ms (missed cycles : 2).[0m ×2 + 10.97sINFOros2_control_node[2026-09-12 04:30:51.819] [info] Received new action goal ×2 + 10.97sINFOros2_control_node[2026-09-12 04:30:51.819] [info] Accepted new action goal ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 13.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.03sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 13.03sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 15.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.65sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 15.77sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.78sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 15.78sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 17.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 59 errors · 39 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187682.62862682 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.80sINFOobjective_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 + 1.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789187687.03841782 seconds ×3 + 4.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762991 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762991 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115746 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115746 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276849 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276849 ms (missed cycles : 5).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803874 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803874 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670202 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670202 ms (missed cycles : 2).[0m ×2 + 9.91sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.92sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORweb_video_auth_proxy-23process has died [pid 7402, 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 + 9.92sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.93sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORweb_bridge_auth_proxy-22process has died [pid 7360, 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 + 9.93sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.94sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.94sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.94sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.95sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.95sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.96sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.96sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.96sINFOvideo_server-21process has finished cleanly [pid 7359] ×2 + 9.96sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.97sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.97sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.98sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.98sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.99sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.99sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.99sINFOvideo_server2026/09/12 04:34:52 INF shutting down gracefully ×2 + 9.99sINFOvideo_server2026/09/12 04:34:52 INF [WebRTC] closing ×2 + 9.99sINFOvideo_server2026/09/12 04:34:52 INF [RTSP] closing ×2 + 10.00sINFOvideo_server2026/09/12 04:34:52 INF waiting for running hooks ×2 + 10.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOcontroller_managerShutdown request received.... + 10.00sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.00sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.00sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.00sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.00sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.00sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.00sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.00sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.00sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.00sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.00sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.00sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.00sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.00sERRORmove_groupStack trace (most recent call last) in thread 7718: ×2 + 10.00sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.00sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.00sINFOcontroller_managerShutting down the controller manager. + 10.00sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.00sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.00sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.00sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.00sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ee2faa63, in __clone ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.00sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ee26daa3, in ×2 + 10.00sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f45ee4ffdb3, in ×2 + 10.00sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f45eec63b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.00sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45ee891620, in rclcpp::Rate::sleep() ×2 + 10.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.01sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.01sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.01sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45ee7d3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.01sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45ee795087, in ×2 + 10.01sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f45ee4ce390, in __cxa_throw ×2 + 10.01sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f45ee4b8a54, in std::terminate() ×2 + 10.01sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f45ee4ce0d9, in ×2 + 10.01sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f45ee4b8ff4, in ×2 + 10.01sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ee1f98fe, in abort ×2 + 10.01sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ee21627d, in raise ×2 + 10.01sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45ee26fb2c, in pthread_kill ×2 + 10.01sERRORmove_groupAborted (Signal sent by tkill() 7278 0) ×2 + 10.01sERRORmove_group-9process has died [pid 7278, 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_jr_6ywuy --params-file /tmp/launch_params_49l2kzx1 --params-file /tmp/launch_params_xni9pdim --params-file /tmp/launch_params_3xt5qhs3 --params-file /tmp/launch_params_enoo5vng --params-file /tmp/launch_params_1ofrtxiv']. ×2 + 10.21sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.21sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.21sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.99sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7357] ×2 + 10.99sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.01sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7284] ×2 + 11.02sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7281] ×2 + 11.06sINFOparameter_manager_node-10process has finished cleanly [pid 7279] ×2 + 11.06sINFOui_teleop_bridge-18process has finished cleanly [pid 7289] ×2 + 11.06sINFOcomponent_container_mt-16process has finished cleanly [pid 7287] ×2 + 11.06sINFOwaypoint_manager_node-11process has finished cleanly [pid 7280] ×2 + 11.07sINFOexecute_objective_bridge-17process has finished cleanly [pid 7288] ×2 + 11.14sINFOobjective_server_node[0;m[2026-09-12 04:34:53.755] [moveit_pro_license] [info] ×2 + 11.14sINFOobjective_server_node************************************************* ×4 + 11.14sINFOobjective_server_node* MoveIt Pro License ×2 + 11.14sINFOobjective_server_node* Application has successfully terminated ×2 + 11.32sINFOobjective_server_node_main-14process has finished cleanly [pid 7285] ×2 + 11.32sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.06sINFOweb_bridge-19process has finished cleanly [pid 7291] ×2 + 12.06sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.15sINFOcomponent_container_mt-15process has finished cleanly [pid 7286] ×2 + 12.65sINFOros2_control_node-1process has finished cleanly [pid 7229] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 57 warnings · 209 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789187474.65458131 seconds ×3 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812226 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812226 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717569 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717569 ms (missed cycles : 2).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974434 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974434 ms (missed cycles : 4).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789187478.24222732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-12 04:31:18.446] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-12 04:31:18.446] [info] Accepted new action goal ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705315 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705315 ms (missed cycles : 6).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200977 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200977 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404172 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404172 ms (missed cycles : 2).[0m ×2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211295 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211295 ms (missed cycles : 2).[0m ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 5 iterations (0.00521614 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.51sINFOros2_control_node[2026-09-12 04:31:23.130] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-09-12 04:31:23.130] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825375 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825375 ms (missed cycles : 2).[0m ×2 + 9.34sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987027 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987027 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.04sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 11.19sINFOobjective_server_nodeFound path in 1 iterations (0.00465803 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.44sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Received new action goal ×2 + 11.44sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Accepted new action goal ×2 + 11.87sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Accepted new action goal ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2).[0m ×2 + 14.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.13sERRORobjective_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: 1789187488.75582075 seconds ×3 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3).[0m ×2 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789187489.55077744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.10sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2).[0m ×2 + 17.62sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Received new action goal ×2 + 17.62sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516553 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516553 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396390 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396390 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544548 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544548 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.30sINFOros2_control_node[2026-09-12 04:30:31.760] [info] Received new action goal ×2 + 2.30sINFOros2_control_node[2026-09-12 04:30:31.760] [info] Accepted new action goal ×2 + 2.66sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-12 04:30:32.126] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-12 04:30:32.126] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1789187432.14247799 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542690 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542690 ms (missed cycles : 3).[0m ×2 + 3.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789187432.76602936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.52sINFOros2_control_node[2026-09-12 04:30:32.980] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-12 04:30:32.980] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240577 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240577 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955516 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955516 ms (missed cycles : 5).[0m ×2 + 5.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.81sINFOros2_control_node[2026-09-12 04:30:35.270] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-12 04:30:35.270] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801490 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801490 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201109 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201109 ms (missed cycles : 5).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228611 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228611 ms (missed cycles : 5).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863257 ms (missed cycles : 5). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863257 ms (missed cycles : 5).[0m ×2 + 9.39sWARNros2_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 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537219 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537219 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 13.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 14.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 15.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 15.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.31sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 16.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 54 warnings · 2236 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904923 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904923 ms (missed cycles : 5).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532481 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532481 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 1 iterations (0.0034688 s). ×2 + 8.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.06sINFOros2_control_node[2026-09-12 04:33:52.841] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-09-12 04:33:52.841] [info] Accepted new action goal ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883542 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883542 ms (missed cycles : 3).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055755 ms (missed cycles : 6). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055755 ms (missed cycles : 6).[0m ×2 + 11.36sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 11.36sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 13.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.21sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 14.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 14.35sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 14.35sERRORobjective_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: 1789187638.12893748 seconds ×3 + 14.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.19sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 15.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 55 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789187659.63907814 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.35sINFOobjective_server_nodecaller: ×8 + 3.35sINFOobjective_server_nodetype: 0 ×8 + 3.35sINFOobjective_server_nodename: "" ×8 + 3.35sINFOobjective_server_nodeinstance_id: "" ×8 + 3.35sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789187660.32076883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2).[0m ×2 + 5.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506219 ms (missed cycles : 6). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506219 ms (missed cycles : 6).[0m ×2 + 7.06sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631236 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631236 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660822 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660822 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975711 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975711 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 11.76sWARNros2_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 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 13.71sINFOobjective_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 + 13.72sERRORobjective_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: 1789187670.62103152 seconds ×3 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_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 + 15.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 15.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 15.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.81sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 15.81sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001694 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001694 ms (missed cycles : 5).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079970 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079970 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521285 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521285 ms (missed cycles : 3).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051918 ms (missed cycles : 4). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051918 ms (missed cycles : 4).[0m ×2 + 10.61sWARNros2_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 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3).[0m ×2 + 13.98sERRORobjective_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: 1789187649.12353778 seconds ×3 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3).[0m ×2 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789187649.72354603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (8.623e-06 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.90sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2).[0m ×2 + 15.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586678 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586678 ms (missed cycles : 2).[0m ×2 + 6.62sWARNros2_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 + 6.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.14sINFOobjective_server_nodeFound path in 5 iterations (0.00550911 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183945 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183945 ms (missed cycles : 4).[0m ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.83sINFOros2_control_node[2026-09-12 04:31:12.090] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-09-12 04:31:12.090] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523661 ms (missed cycles : 6). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523661 ms (missed cycles : 6).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538095 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538095 ms (missed cycles : 4).[0m ×2 + 10.09sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789187474.65458131 seconds ×3 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812226 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812226 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717569 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717569 ms (missed cycles : 2).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974434 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974434 ms (missed cycles : 4).[0m ×2 + 13.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789187478.24222732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.19sINFOros2_control_node[2026-09-12 04:31:18.446] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-12 04:31:18.446] [info] Accepted new action goal ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705315 ms (missed cycles : 6). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705315 ms (missed cycles : 6).[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200977 ms (missed cycles : 5). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200977 ms (missed cycles : 5).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404172 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404172 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 57 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.59sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.11sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989856 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989856 ms (missed cycles : 4).[0m ×2 + 7.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055812 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055812 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675783 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675783 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471205 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471205 ms (missed cycles : 4).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 9.90sINFOros2_control_node[2026-09-12 04:30:28.432] [info] Received new action goal ×2 + 9.90sINFOros2_control_node[2026-09-12 04:30:28.432] [info] Accepted new action goal ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516553 ms (missed cycles : 6). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516553 ms (missed cycles : 6).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396390 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396390 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544548 ms (missed cycles : 5). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544548 ms (missed cycles : 5).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.23sINFOros2_control_node[2026-09-12 04:30:31.760] [info] Received new action goal ×2 + 13.23sINFOros2_control_node[2026-09-12 04:30:31.760] [info] Accepted new action goal ×2 + 13.59sINFOobjective_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 + 13.60sINFOros2_control_node[2026-09-12 04:30:32.126] [info] Got request to cancel active goal. ×2 + 13.60sINFOros2_control_node[2026-09-12 04:30:32.126] [info] Canceling active goal... ×2 + 13.61sERRORobjective_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: 1789187432.14247799 seconds ×3 + 13.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542690 ms (missed cycles : 3). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542690 ms (missed cycles : 3).[0m ×2 + 14.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789187432.76602936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.45sINFOros2_control_node[2026-09-12 04:30:32.980] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-09-12 04:30:32.980] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240577 ms (missed cycles : 5). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240577 ms (missed cycles : 5).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955516 ms (missed cycles : 5). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955516 ms (missed cycles : 5).[0m ×2 + 16.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.74sINFOros2_control_node[2026-09-12 04:30:35.270] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-12 04:30:35.270] [info] Accepted new action goal ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801490 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801490 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 55 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.90sINFOobjective_server_nodecaller: ×6 + 2.90sINFOobjective_server_nodetype: 0 ×6 + 2.90sINFOobjective_server_nodename: "" ×6 + 2.90sINFOobjective_server_nodeinstance_id: "" ×6 + 2.90sINFOobjective_server_node ×6 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.17sINFOros2_control_node[2026-09-12 04:30:59.992] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-09-12 04:30:59.992] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922367 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922367 ms (missed cycles : 5).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795264 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795264 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891419 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891419 ms (missed cycles : 4).[0m ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.51sINFOros2_control_node[2026-09-12 04:31:02.333] [info] Received new action goal ×2 + 9.51sINFOros2_control_node[2026-09-12 04:31:02.333] [info] Accepted new action goal ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367613 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367613 ms (missed cycles : 3).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.87sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 11.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 13.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.80sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 13.82sERRORobjective_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: 1789187466.63590479 seconds ×3 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.65sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.99sERRORobjective_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: 1789187670.62103152 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.56sINFOobjective_server_nodecaller: ×14 + 2.56sINFOobjective_server_nodetype: 0 ×14 + 2.56sINFOobjective_server_nodename: "" ×14 + 2.56sINFOobjective_server_nodeinstance_id: "" ×14 + 2.56sINFOobjective_server_node ×14 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4).[0m ×2 + 7.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.40sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.41sINFOros2_control_node[2026-09-12 04:34:36.037] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-09-12 04:34:36.037] [info] Accepted new action goal ×2 + 7.41sINFOros2_control_node[2026-09-12 04:34:36.038] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334165 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334165 ms (missed cycles : 4).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373149 ms (missed cycles : 4). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373149 ms (missed cycles : 4).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740781 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740781 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4).[0m ×2 + 12.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 13.99sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 14.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187682.62862682 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 14.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.79sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.79sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.79sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.79sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 16.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 17.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 56 warnings · 129 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 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.37sERRORobjective_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: 1789187649.12353778 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789187649.72354603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (8.623e-06 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.28sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192859 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192859 ms (missed cycles : 4).[0m ×2 + 8.30sINFOros2_control_node[2026-09-12 04:34:14.054] [info] Received new action goal ×2 + 8.30sINFOros2_control_node[2026-09-12 04:34:14.054] [info] Accepted new action goal ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711874 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711874 ms (missed cycles : 2).[0m ×2 + 10.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917897 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917897 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4).[0m ×2 + 13.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789187659.63907814 seconds ×3 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3).[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789187660.32076883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.70sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Accepted new action goal ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2).[0m ×2 + 16.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2).[0m ×2 + 16.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789187500.81267524 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789187501.48233628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789187501.54249430 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.50sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.51sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.83sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 8.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 688 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sWARNros2_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 + 0.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.01sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997448 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997448 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.04sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.04sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.05sINFOcomponent_container_mt[2026-09-12 04:30:13.979] [moveit_pro_license] [info] ×2 + 0.05sINFOcomponent_container_mt************************************************* ×4 + 0.05sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-3process has finished cleanly [pid 7231] ×2 + 0.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.56sINFOros2_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 + 0.56sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.56sWARNros2_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 + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.59sINFOros2_control_node[2026-09-12 04:30:14.525] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-12 04:30:14.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7246] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.94sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954734 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954734 ms (missed cycles : 5).[0m ×2 + 1.16sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 1.30sINFOros2-2process has finished cleanly [pid 7230] ×2 + 1.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.62sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.67sINFOros2-4process has finished cleanly [pid 7243] ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 1.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 1.74sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.74sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.74sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.76sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.76sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 1.77sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 2.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2-6process has finished cleanly [pid 7245] ×2 + 2.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.15sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.16sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.16sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.47sINFOros2-5process has finished cleanly [pid 7244] ×2 + 2.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 2.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 2.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.55sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.55sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 2.58sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.82sINFOobjective_server_nodecaller: ×14 + 2.82sINFOobjective_server_nodetype: 0 ×14 + 2.82sINFOobjective_server_nodename: "" ×14 + 2.82sINFOobjective_server_nodeinstance_id: "" ×14 + 2.83sINFOobjective_server_node ×14 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 2.93sINFOros2-8process has finished cleanly [pid 7247] ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_control_nodeCamera render tick took 1.87 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 + 4.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 6.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 7.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.19sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789187682.62862682 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.66sINFOobjective_server_nodecaller: ×8 + 3.66sINFOobjective_server_nodetype: 0 ×8 + 3.66sINFOobjective_server_nodename: "" ×8 + 3.66sINFOobjective_server_nodeinstance_id: "" ×8 + 3.66sINFOobjective_server_node ×8 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 + 7.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5).[0m ×2 + 7.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789187687.03841782 seconds ×3 + 7.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789187500.81267524 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789187501.48233628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789187501.54249430 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187670.62103152 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 0.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 0.96sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 0.96sERRORobjective_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: 1789187682.62862682 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.50sINFOobjective_server_nodecaller: ×8 + 1.50sINFOobjective_server_nodetype: 0 ×8 + 1.50sINFOobjective_server_nodename: "" ×8 + 1.50sINFOobjective_server_nodeinstance_id: "" ×8 + 1.50sINFOobjective_server_node ×8 + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.75sINFOobjective_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 + 2.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789187687.03841782 seconds ×3 + 5.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762991 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762991 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 502 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7243] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 7245] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.15sINFOobjective_server_nodecaller: ×14 + 1.15sINFOobjective_server_nodetype: 0 ×14 + 1.15sINFOobjective_server_nodename: "" ×14 + 1.15sINFOobjective_server_nodeinstance_id: "" ×14 + 1.15sINFOobjective_server_node ×14 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 1.26sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sERRORobjective_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: 1789187670.62103152 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4).[0m ×2 + 0.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1789187682.62862682 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.59sINFOobjective_server_nodecaller: ×8 + 2.59sINFOobjective_server_nodetype: 0 ×8 + 2.59sINFOobjective_server_nodename: "" ×8 + 2.59sINFOobjective_server_nodeinstance_id: "" ×8 + 2.59sINFOobjective_server_node ×8 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744087 ms (missed cycles : 5).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789187687.03841782 seconds ×3 + 6.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.1s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 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 · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993913 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275885 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441224 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_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 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187443.12664843 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789187443.79551697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789187443.88567114 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599850 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789187444.52644801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 04:30:44.770] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815112 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265318 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269652 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324206 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209257 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-12 04:30:53.880] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160261 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789187455.17676616 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789187455.80177212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789187455.85190392 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990980 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789187456.50176191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-12 04:30:56.626] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400958 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033315 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-12 04:31:04.684] [info] Accepted new action goal ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400646 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214646 ms (missed cycles : 7).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-09-12 04:31:06.622] [info] Canceling active goal... ×2 + 2.38sERRORobjective_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: 1789187466.63590479 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789187467.27258420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.466] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-12 04:31:07.467] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693391 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186481 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994585 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304424 ms (missed cycles : 2).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 1 iterations (0.00465803 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-12 04:31:26.058] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 04:31:26.490] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203573 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028161 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187488.75582075 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415427 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789187489.55077744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-12 04:31:29.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932799 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960391 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858288 ms (missed cycles : 2).[0m ×2 + 6.68sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-12 04:31:32.240] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339801 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635087 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090067 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789187500.81267524 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789187501.48233628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789187501.54249430 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207309 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789187502.14255643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-12 04:31:42.266] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703142 ms (missed cycles : 5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876958 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789187504.27268481 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055332 ms (missed cycles : 6).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445402 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789187505.90970778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 04:31:46.328] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482138 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462732 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475653 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729495 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789187560.40779066 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840061 ms (missed cycles : 5).[0m ×2 + 3.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789187561.03026175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.68sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-12 04:32:41.204] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117012 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409160 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2122 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670252 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900683 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130062 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789187627.07208562 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789187627.78398061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443410 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:33:47.978] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268371 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:33:55.143] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059615 ms (missed cycles : 4).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544421 ms (missed cycles : 6).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-12 04:33:56.987] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345673 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-12 04:33:58.124] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789187638.12893748 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666608 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789187638.79280710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:33:58.966] [info] Accepted new action goal ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569331 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178000 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 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 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450856 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010725 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980763 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.37sERRORobjective_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: 1789187649.12353778 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644647 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789187649.72354603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (8.623e-06 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.28sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:34:10.039] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856456 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651517 ms (missed cycles : 5).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119693 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622653 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901393 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049694 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789187659.63907814 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441778 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789187660.32076883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 04:34:20.455] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837789 ms (missed cycles : 2).[0m ×2 + 5.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190445 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187670.62103152 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187670.62103152 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187670.62103152 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425439 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789187670.62103152 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sERRORobjective_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: 1789187670.62103152 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sERRORobjective_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: 1789187670.62103152 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218926 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423591 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sERRORobjective_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: 1789187670.62103152 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2). + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942756 ms (missed cycles : 2).[0m ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789187671.24786568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789187671.33800554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996723 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789187671.94751167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789187671.97038460 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789187672.60337925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-12 04:34:32.717] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710245 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958662 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412492 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789187682.62862682 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.66sINFOobjective_server_nodecaller: ×8 + 3.66sINFOobjective_server_nodetype: 0 ×8 + 3.66sINFOobjective_server_nodename: "" ×8 + 3.66sINFOobjective_server_nodeinstance_id: "" ×8 + 3.66sINFOobjective_server_node ×8 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115381 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664890 ms (missed cycles : 4).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855413 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-12 04:34:42.623] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789187682.62862682 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004317 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.66sINFOobjective_server_nodecaller: ×8 + 3.66sINFOobjective_server_nodetype: 0 ×8 + 3.66sINFOobjective_server_nodename: "" ×8 + 3.66sINFOobjective_server_nodeinstance_id: "" ×8 + 3.66sINFOobjective_server_node ×8 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789187683.22290015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465882 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789187683.81914973 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789187684.42057681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789187684.42252994 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212747 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789187685.07366276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789187685.11469412 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789187685.70828843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063246 ms (missed cycles : 8).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.5s | 45 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-12-04-30-09-326356-0283ce05da78-7181 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252535 ms (missed cycles : 2). + 0.90sINFOros2_control_node-1process started with pid [7229] ×2 + 0.90sINFOmove_group-9process started with pid [7278] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7279] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7280] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7281] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7284] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7285] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7286] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7287] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7288] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7289] ×2 + 0.90sINFOweb_bridge-19process started with pid [7291] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7357] ×2 + 0.90sINFOvideo_server-21process started with pid [7359] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7360] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7402] ×2 + 0.91sINFOros2-2process started with pid [7230] ×2 + 0.91sINFOros2-3process started with pid [7231] ×2 + 0.91sINFOros2-4process started with pid [7243] ×2 + 0.91sINFOros2-5process started with pid [7244] ×2 + 0.91sINFOros2-6process started with pid [7245] ×2 + 0.91sINFOros2-7process started with pid [7246] ×2 + 0.91sINFOros2-8process started with pid [7247] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252535 ms (missed cycles : 2).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF configuration loaded from /tmp/moveit-webrtc-eurg1gkh/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.06sINFOmove_group[2026-09-12 04:30:11.776] [moveit_pro_license] [info] ×2 + 2.06sINFOmove_group************************************************* ×4 + 2.06sINFOmove_group* MoveIt Pro License ×2 + 2.06sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOwaypoint_manager_node[2026-09-12 04:30:11.803] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.14sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.14sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.14sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.15sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.15sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.17sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898763 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898763 ms (missed cycles : 5).[0m ×2 + 2.36sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.57sINFOmove_group ×4 + 2.57sINFOmove_group[92mYou can start planning now![0m ×2 + 3.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.73sINFOobjective_server_node[2026-09-12 04:30:13.437] [moveit_pro_license] [info] ×2 + 3.73sINFOobjective_server_node************************************************* ×4 + 3.73sINFOobjective_server_node* MoveIt Pro License ×2 + 3.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.89sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.89sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.91sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.91sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.03sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.03sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.22sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.22sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.22sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.22sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.22sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.22sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.22sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.22sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.22sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.22sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.22sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.22sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.22sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.22sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.22sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.22sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.22sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.22sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.22sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.22sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.22sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.22sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.22sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997448 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997448 ms (missed cycles : 2).[0m ×2 + 4.26sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.26sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.26sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.26sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.26sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 4.27sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 4.27sINFOcomponent_container_mt[2026-09-12 04:30:13.979] [moveit_pro_license] [info] ×2 + 4.27sINFOcomponent_container_mt************************************************* ×4 + 4.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.27sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.28sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.28sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.28sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.29sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.29sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.60sINFOros2-3process has finished cleanly [pid 7231] ×2 + 4.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 4.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 4.78sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.78sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.78sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.79sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.79sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.81sINFOros2_control_node[2026-09-12 04:30:14.525] [info] Controller state will be published at 10 Hz. ×2 + 4.81sINFOros2_control_node[2026-09-12 04:30:14.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.12sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.12sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.12sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.12sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 5.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 5.16sINFOros2-7process has finished cleanly [pid 7246] ×2 + 5.16sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.16sINFOforce_torque_sensor_broadcasterconfigure successful + 5.16sINFOros2_control_nodeconfigure successful[0m ×2 + 5.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954734 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954734 ms (missed cycles : 5).[0m ×2 + 5.38sWARNobjective_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 + 5.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 5.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 5.51sINFOros2-2process has finished cleanly [pid 7230] ×2 + 5.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.89sINFOros2-4process has finished cleanly [pid 7243] ×2 + 5.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 5.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 5.96sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.96sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.96sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.96sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.98sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.98sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 5.99sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 6.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 6.35sINFOros2-6process has finished cleanly [pid 7245] ×2 + 6.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.38sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.66sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.66sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.66sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.69sINFOros2-5process has finished cleanly [pid 7244] ×2 + 6.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 6.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 6.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.77sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.80sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 6.80sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 7.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 7.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 7.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 7.04sINFOobjective_server_nodecaller: ×10 + 7.04sINFOobjective_server_nodetype: 0 ×10 + 7.04sINFOobjective_server_nodename: "" ×10 + 7.04sINFOobjective_server_nodeinstance_id: "" ×10 + 7.04sINFOobjective_server_node ×10 + 7.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 7.15sINFOros2-8process has finished cleanly [pid 7247] ×2 + 7.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.66sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 8.55sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 9.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.39sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 10.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 10.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 10.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 11.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 1.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 ×3 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.75sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.27sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.24sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 151 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-12-04-30-09-326356-0283ce05da78-7181 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252535 ms (missed cycles : 2). + 0.90sINFOros2_control_node-1process started with pid [7229] ×2 + 0.90sINFOmove_group-9process started with pid [7278] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7279] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7280] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7281] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7284] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7285] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7286] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7287] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7288] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7289] ×2 + 0.90sINFOweb_bridge-19process started with pid [7291] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7357] ×2 + 0.90sINFOvideo_server-21process started with pid [7359] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7360] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7402] ×2 + 0.91sINFOros2-2process started with pid [7230] ×2 + 0.91sINFOros2-3process started with pid [7231] ×2 + 0.91sINFOros2-4process started with pid [7243] ×2 + 0.91sINFOros2-5process started with pid [7244] ×2 + 0.91sINFOros2-6process started with pid [7245] ×2 + 0.91sINFOros2-7process started with pid [7246] ×2 + 0.91sINFOros2-8process started with pid [7247] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252535 ms (missed cycles : 2).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF configuration loaded from /tmp/moveit-webrtc-eurg1gkh/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/12 04:30:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.06sINFOmove_group[2026-09-12 04:30:11.776] [moveit_pro_license] [info] ×2 + 2.06sINFOmove_group************************************************* ×4 + 2.06sINFOmove_group* MoveIt Pro License ×2 + 2.06sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOwaypoint_manager_node[2026-09-12 04:30:11.803] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.14sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.14sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.14sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.15sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.15sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.17sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898763 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898763 ms (missed cycles : 5).[0m ×2 + 2.36sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.57sINFOmove_group ×4 + 2.57sINFOmove_group[92mYou can start planning now![0m ×2 + 3.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 502 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7243] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 7245] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.15sINFOobjective_server_nodecaller: ×14 + 1.15sINFOobjective_server_nodetype: 0 ×14 + 1.15sINFOobjective_server_nodename: "" ×14 + 1.15sINFOobjective_server_nodeinstance_id: "" ×14 + 1.15sINFOobjective_server_node ×14 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 1.26sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 502 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7243] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 7245] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.15sINFOobjective_server_nodecaller: ×14 + 1.15sINFOobjective_server_nodetype: 0 ×14 + 1.15sINFOobjective_server_nodename: "" ×14 + 1.15sINFOobjective_server_nodeinstance_id: "" ×14 + 1.15sINFOobjective_server_node ×14 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 1.26sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 502 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7243] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_node[2026-09-12 04:30:15.670] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-09-12 04:30:15.693] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-09-12 04:30:15.698] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789682 ms (missed cycles : 2).[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 7245] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.15sINFOobjective_server_nodecaller: ×14 + 1.15sINFOobjective_server_nodetype: 0 ×14 + 1.15sINFOobjective_server_nodename: "" ×14 + 1.15sINFOobjective_server_nodeinstance_id: "" ×14 + 1.15sINFOobjective_server_node ×14 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 1.26sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2-5process has finished cleanly [pid 7244] ×2 + 0.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w3b28q0_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qt0t5kr0 --params-file /tmp/launch_params_jcuw9vzx [0m ×2 + 0.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.24sINFOros2_control_node[2026-09-12 04:30:16.508] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-12 04:30:16.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789187416.81876659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789187416.82908916 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOros2-8process has finished cleanly [pid 7247] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 331 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789187417.41833329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310173 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 1.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 ×3 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.75sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989856 ms (missed cycles : 4). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989856 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789187418.52857018 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037455 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789187419.15229177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789187419.21251631 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183892 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789187419.86984229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789187419.88998556 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789187420.48194385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789187420.63254309 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325317 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789187421.33903098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789187421.37918067 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789187421.98588943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.3596e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:30:22.122] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063443 ms (missed cycles : 5).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845929 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:30:24.640] [info] Accepted new action goal ×2 | ||||