128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 19860 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789188385.45378852 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 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 ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sWARNros2_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 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789188386.06480622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.12sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_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 ×6 + 4.39sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060473 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060473 ms (missed cycles : 2).[0m ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×3266 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×3266 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×6532 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×6532 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.789366 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.789366 ms (missed cycles : 6).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429914 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429914 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833647 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833647 ms (missed cycles : 2).[0m ×2 + 9.88sWARNros2_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 ×4 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740812 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740812 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979262 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979262 ms (missed cycles : 2).[0m ×2 + 11.47sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.47sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.47sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.47sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.47sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905507 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905507 ms (missed cycles : 2).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905144 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905144 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402995 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402995 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919185 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919185 ms (missed cycles : 2).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294605 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294605 ms (missed cycles : 2).[0m ×2 + 16.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953789 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953789 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074759 ms (missed cycles : 4). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074759 ms (missed cycles : 4).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040876 ms (missed cycles : 2). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040876 ms (missed cycles : 2).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875629 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875629 ms (missed cycles : 3).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748749 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748749 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883404 ms (missed cycles : 2). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883404 ms (missed cycles : 2).[0m ×2 + 23.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526317 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526317 ms (missed cycles : 2).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098436 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098436 ms (missed cycles : 2).[0m ×2 + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386275 ms (missed cycles : 2). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386275 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536362 ms (missed cycles : 3). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536362 ms (missed cycles : 3).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001811 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001811 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705508 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705508 ms (missed cycles : 2).[0m ×2 + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986504 ms (missed cycles : 2). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986504 ms (missed cycles : 2).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476344 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476344 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894836 ms (missed cycles : 3). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894836 ms (missed cycles : 3).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674620 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674620 ms (missed cycles : 2).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307618 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307618 ms (missed cycles : 2).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790714 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790714 ms (missed cycles : 2).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180876 ms (missed cycles : 2). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180876 ms (missed cycles : 2).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834729 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834729 ms (missed cycles : 2).[0m ×2 + 37.86sWARNros2_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 + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059890 ms (missed cycles : 2). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059890 ms (missed cycles : 2).[0m ×2 + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880312 ms (missed cycles : 2). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880312 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286344 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286344 ms (missed cycles : 2).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368720 ms (missed cycles : 2). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368720 ms (missed cycles : 2).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831984 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831984 ms (missed cycles : 2).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221432 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221432 ms (missed cycles : 2).[0m ×2 + 44.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851673 ms (missed cycles : 2). + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851673 ms (missed cycles : 2).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722936 ms (missed cycles : 2). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722936 ms (missed cycles : 2).[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205919 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205919 ms (missed cycles : 2).[0m ×2 + 46.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188429.94576216 seconds ×3 + 46.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.38sINFOobjective_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: ""
+ 47.38sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789188430.57056975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.62sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 47.63sINFOros2_control_node[2026-09-12 04:47:10.734] [info] Received new action goal ×2 + 47.63sINFOros2_control_node[2026-09-12 04:47:10.734] [info] Accepted new action goal ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257447 ms (missed cycles : 3). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257447 ms (missed cycles : 3).[0m ×2 + 47.96sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675207 ms (missed cycles : 2). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675207 ms (missed cycles : 2).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970452 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970452 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 7.14sINFOros2_control_node[2026-09-12 04:45:35.281] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-12 04:45:35.281] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062961 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062961 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120093 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120093 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915086 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915086 ms (missed cycles : 2).[0m ×2 + 10.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.42sINFOros2_control_node[2026-09-12 04:45:38.561] [info] Received new action goal ×2 + 10.42sINFOros2_control_node[2026-09-12 04:45:38.561] [info] Accepted new action goal ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806765 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806765 ms (missed cycles : 2).[0m ×2 + 10.55sWARNros2_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 ×6 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622838 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622838 ms (missed cycles : 5).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822025 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822025 ms (missed cycles : 2).[0m ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 13.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.47sINFOros2_control_node[2026-09-12 04:45:41.605] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-09-12 04:45:41.605] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821823 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821823 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557074 ms (missed cycles : 5). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557074 ms (missed cycles : 5).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092274 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092274 ms (missed cycles : 2).[0m ×2 + 16.42sINFOobjective_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 ×6 + 16.42sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850057 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850057 ms (missed cycles : 3).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138263 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138263 ms (missed cycles : 2).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846857 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846857 ms (missed cycles : 3).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956978 ms (missed cycles : 4). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956978 ms (missed cycles : 4).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.277568 ms (missed cycles : 7). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.277568 ms (missed cycles : 7).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985565 ms (missed cycles : 4). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985565 ms (missed cycles : 4).[0m ×2 + 22.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 23.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.22sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.22sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.22sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.22sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443626 ms (missed cycles : 3). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443626 ms (missed cycles : 3).[0m ×2 + 24.11sINFOros2_control_node[2026-09-12 04:45:52.244] [info] Received new action goal ×2 + 24.11sINFOros2_control_node[2026-09-12 04:45:52.244] [info] Accepted new action goal ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992423 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992423 ms (missed cycles : 2).[0m ×2 + 25.27sINFOobjective_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 + 25.28sINFOobjective_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 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417371 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417371 ms (missed cycles : 2).[0m ×2 + 25.56sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 25.56sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.61sINFOros2_control_node[2026-09-12 04:45:53.750] [info] Received new action goal ×2 + 25.61sINFOros2_control_node[2026-09-12 04:45:53.750] [info] Accepted new action goal ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772212 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772212 ms (missed cycles : 3).[0m ×2 + 27.74sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 27.74sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.76sINFOros2_control_node[2026-09-12 04:45:55.897] [info] Received new action goal ×2 + 27.76sINFOros2_control_node[2026-09-12 04:45:55.897] [info] Accepted new action goal ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899329 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899329 ms (missed cycles : 2).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164426 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164426 ms (missed cycles : 2).[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218794 ms (missed cycles : 3). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218794 ms (missed cycles : 3).[0m ×2 + 30.90sINFOros2_control_node[2026-09-12 04:45:59.036] [info] Received new action goal ×2 + 30.90sINFOros2_control_node[2026-09-12 04:45:59.036] [info] Accepted new action goal ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591429 ms (missed cycles : 3). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591429 ms (missed cycles : 3).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055767 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055767 ms (missed cycles : 2).[0m ×2 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602589 ms (missed cycles : 2). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602589 ms (missed cycles : 2).[0m ×2 + 33.49sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 33.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.56sINFOros2_control_node[2026-09-12 04:46:01.695] [info] Received new action goal ×2 + 33.56sINFOros2_control_node[2026-09-12 04:46:01.695] [info] Accepted new action goal ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058895 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058895 ms (missed cycles : 2).[0m ×2 + 34.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115712 ms (missed cycles : 2). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115712 ms (missed cycles : 2).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697215 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697215 ms (missed cycles : 2).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441707 ms (missed cycles : 4). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441707 ms (missed cycles : 4).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891012 ms (missed cycles : 5). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891012 ms (missed cycles : 5).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942699 ms (missed cycles : 4). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942699 ms (missed cycles : 4).[0m ×2 + 40.68sWARNros2_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 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944498 ms (missed cycles : 3). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944498 ms (missed cycles : 3).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168553 ms (missed cycles : 3). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168553 ms (missed cycles : 3).[0m ×2 + 42.93sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181639 ms (missed cycles : 4). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181639 ms (missed cycles : 4).[0m ×2 + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815299 ms (missed cycles : 2). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815299 ms (missed cycles : 2).[0m ×2 + 44.33sINFOros2_control_node[2026-09-12 04:46:12.465] [info] Received new action goal ×2 + 44.33sINFOros2_control_node[2026-09-12 04:46:12.465] [info] Accepted new action goal ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176885 ms (missed cycles : 2). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176885 ms (missed cycles : 2).[0m ×2 + 45.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789188373.62150383 seconds ×3 + 46.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.08sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775874 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775874 ms (missed cycles : 2).[0m ×2 + 46.30sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789188374.43363285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.73sWARNros2_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 + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962151 ms (missed cycles : 2). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962151 ms (missed cycles : 2).[0m ×2 + 47.53sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 47.55sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.57sINFOros2_control_node[2026-09-12 04:46:15.709] [info] Received new action goal ×2 + 47.57sINFOros2_control_node[2026-09-12 04:46:15.709] [info] Accepted new action goal ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504999 ms (missed cycles : 4). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504999 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13734 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2256 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2256 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4512 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4512 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221432 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221432 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851673 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851673 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722936 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722936 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205919 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205919 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188429.94576216 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789188430.57056975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.06sINFOros2_control_node[2026-09-12 04:47:10.734] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-12 04:47:10.734] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257447 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257447 ms (missed cycles : 3).[0m ×2 + 4.40sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675207 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675207 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.37sINFOobjective_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 + 5.39sINFOobjective_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 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970452 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970452 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357288 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357288 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301909 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301909 ms (missed cycles : 2).[0m ×2 + 8.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151350 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151350 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432814 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432814 ms (missed cycles : 2).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578665 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578665 ms (missed cycles : 4).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920457 ms (missed cycles : 5). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920457 ms (missed cycles : 5).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966167 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966167 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817376 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817376 ms (missed cycles : 3).[0m ×2 + 15.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372524 ms (missed cycles : 7). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372524 ms (missed cycles : 7).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869128 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869128 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796676 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796676 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589996 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589996 ms (missed cycles : 3).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005893 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005893 ms (missed cycles : 2).[0m ×2 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612635 ms (missed cycles : 5). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612635 ms (missed cycles : 5).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973586 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973586 ms (missed cycles : 3).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 25.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 26.00sINFOobjective_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: ""
+ 26.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 26.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 26.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.31sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 26.31sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00330567 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Accepted new action goal ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188314.78919506 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789188315.60268855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3).[0m ×2 + 6.64sINFOros2_control_node[2026-09-12 04:45:18.291] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-12 04:45:18.291] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187109 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187109 ms (missed cycles : 3).[0m ×2 + 8.28sWARNros2_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 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910426 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910426 ms (missed cycles : 4).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743800 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743800 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905705 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905705 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610317 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610317 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3).[0m ×2 + 14.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789188326.86107278 seconds ×3 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.82sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789188327.52606225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789188327.59618378 seconds ×3 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4).[0m ×2 + 16.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.49sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.54sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789188328.19218159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.68sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 18.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181639 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181639 ms (missed cycles : 4).[0m ×2 + 0.47sINFOobjective_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 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.47sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815299 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815299 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.40sINFOros2_control_node[2026-09-12 04:46:12.465] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-09-12 04:46:12.465] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176885 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176885 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789188373.62150383 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775874 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775874 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789188374.43363285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962151 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.64sINFOros2_control_node[2026-09-12 04:46:15.709] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-12 04:46:15.709] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504999 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504999 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182803 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182803 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489866 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489866 ms (missed cycles : 2).[0m ×2 + 8.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951420 ms (missed cycles : 5). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951420 ms (missed cycles : 5).[0m ×2 + 9.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577207 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577207 ms (missed cycles : 2).[0m ×2 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.78sINFOros2_control_node[2026-09-12 04:46:21.848] [info] Received new action goal ×2 + 10.78sINFOros2_control_node[2026-09-12 04:46:21.848] [info] Accepted new action goal ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451231 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451231 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3).[0m ×2 + 14.39sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789188385.45378852 seconds ×3 + 14.62sWARNros2_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 + 14.93sINFOobjective_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: 1789188386.06480622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.16sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2).[0m ×2 + 16.43sINFOobjective_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 + 16.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_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 + 1.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.23sINFOobjective_server_nodecaller: ×14 + 2.23sINFOobjective_server_nodetype: 0 ×14 + 2.23sINFOobjective_server_nodename: "" ×14 + 2.23sINFOobjective_server_nodeinstance_id: "" ×14 + 2.23sINFOobjective_server_node ×14 + 2.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_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 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 4.22sWARNros2_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 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.12sINFOros2_control_node[2026-09-12 04:48:20.730] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-12 04:48:20.730] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-09-12 04:48:20.731] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767119 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767119 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639014 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639014 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688730 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688730 ms (missed cycles : 2).[0m ×2 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495581 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495581 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 14.16sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 14.16sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 14.17sERRORobjective_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: 1789188507.78168321 seconds ×3 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 15.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 16.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.08sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 16.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.69sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 17.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 61 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 0.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 0.33sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 0.34sERRORobjective_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: 1789188507.78168321 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.88sINFOobjective_server_nodecaller: ×8 + 0.88sINFOobjective_server_nodetype: 0 ×8 + 0.88sINFOobjective_server_nodename: "" ×8 + 0.88sINFOobjective_server_nodeinstance_id: "" ×8 + 0.88sINFOobjective_server_node ×8 + 0.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 1.28sWARNros2_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 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.25sINFOobjective_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 + 2.25sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188512.25299859 seconds ×3 + 4.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3).[0m ×2 + 6.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430973 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430973 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429885 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429885 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668740 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668740 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334436 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334436 ms (missed cycles : 2).[0m ×2 + 10.25sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.27sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.27sERRORweb_video_auth_proxy-23process has died [pid 7357, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.27sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.28sERRORweb_bridge_auth_proxy-22process has died [pid 7356, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.28sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.28sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.28sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.29sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.29sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.30sINFOvideo_server-21process has finished cleanly [pid 7355] ×2 + 10.30sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.30sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.31sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.32sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.33sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.33sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.34sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.34sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.34sINFOcontroller_managerShutdown request received.... + 10.34sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.34sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.34sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.34sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.35sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.35sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.35sINFOvideo_server2026/09/12 04:48:37 INF shutting down gracefully ×2 + 10.35sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.35sINFOvideo_server2026/09/12 04:48:37 INF [WebRTC] closing ×2 + 10.35sINFOvideo_server2026/09/12 04:48:37 INF [RTSP] closing ×2 + 10.35sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.35sINFOvideo_server2026/09/12 04:48:37 INF waiting for running hooks ×2 + 10.35sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.35sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.35sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.35sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.35sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.35sINFOcontroller_managerShutting down the controller manager. + 10.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.35sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.35sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.35sERRORmove_groupStack trace (most recent call last) in thread 7696: ×2 + 10.35sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.35sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.35sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.35sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1c2c6d0a63, in __clone ×2 + 10.35sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1c2c643aa3, in ×2 + 10.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.35sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1c2c8d5db3, in ×2 + 10.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.36sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.36sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.36sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.36sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1c2d039b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1c2cc67620, in rclcpp::Rate::sleep() ×2 + 10.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1c2cba9d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1c2cb6b087, in ×2 + 10.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1c2c8a4390, in __cxa_throw ×2 + 10.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1c2c88ea54, in std::terminate() ×2 + 10.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1c2c8a40d9, in ×2 + 10.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1c2c88eff4, in ×2 + 10.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1c2c5cf8fe, in abort ×2 + 10.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1c2c5ec27d, in raise ×2 + 10.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1c2c645b2c, in pthread_kill ×2 + 10.36sERRORmove_groupAborted (Signal sent by tkill() 7261 0) ×2 + 10.36sERRORmove_group-9process has died [pid 7261, 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_w3yv_v1s --params-file /tmp/launch_params_qletr1qg --params-file /tmp/launch_params_cfipj45x --params-file /tmp/launch_params_m2p66gk9 --params-file /tmp/launch_params_qlbzopi4 --params-file /tmp/launch_params_y2qz89ti']. ×2 + 10.56sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.56sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.56sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.33sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7354] ×2 + 11.33sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.36sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7265] ×2 + 11.36sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7264] ×2 + 11.38sINFOcomponent_container_mt-16process has finished cleanly [pid 7268] ×2 + 11.39sINFOexecute_objective_bridge-17process has finished cleanly [pid 7269] ×2 + 11.40sINFOwaypoint_manager_node-11process has finished cleanly [pid 7263] ×2 + 11.40sINFOui_teleop_bridge-18process has finished cleanly [pid 7270] ×2 + 11.40sINFOparameter_manager_node-10process has finished cleanly [pid 7262] ×2 + 11.49sINFOobjective_server_node[0;m[2026-09-12 04:48:38.933] [moveit_pro_license] [info] ×2 + 11.49sINFOobjective_server_node************************************************* ×4 + 11.49sINFOobjective_server_node* MoveIt Pro License ×2 + 11.49sINFOobjective_server_node* Application has successfully terminated ×2 + 11.62sINFOobjective_server_node_main-14process has finished cleanly [pid 7266] ×2 + 11.62sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.49sINFOcomponent_container_mt-15process has finished cleanly [pid 7267] ×2 + 12.56sINFOweb_bridge-19process has finished cleanly [pid 7271] ×2 + 12.56sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.00sINFOros2_control_node-1process has finished cleanly [pid 7220] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 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 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577975 ms (missed cycles : 6). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577975 ms (missed cycles : 6).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231916 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231916 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322894 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322894 ms (missed cycles : 4).[0m ×2 + 8.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928830 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928830 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×4 + 9.96sINFOros2_control_node[2026-09-12 04:44:14.943] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-12 04:44:14.943] [info] Accepted new action goal ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844217 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844217 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681706 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681706 ms (missed cycles : 3).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957733 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957733 ms (missed cycles : 4).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-12 04:44:18.283] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-12 04:44:18.283] [info] Accepted new action goal ×2 + 13.88sINFOobjective_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 + 13.89sINFOros2_control_node[2026-09-12 04:44:18.879] [info] Got request to cancel active goal. ×2 + 13.89sINFOros2_control_node[2026-09-12 04:44:18.879] [info] Canceling active goal... ×2 + 13.91sERRORobjective_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: 1789188258.89528060 seconds ×3 + 13.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027145 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027145 ms (missed cycles : 5).[0m ×2 + 14.45sINFOobjective_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: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789188259.50798750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 14.74sINFOros2_control_node[2026-09-12 04:44:19.731] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-09-12 04:44:19.731] [info] Accepted new action goal ×2 + 14.93sWARNros2_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 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091948 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091948 ms (missed cycles : 4).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110885 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110885 ms (missed cycles : 3).[0m ×2 + 17.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.02sINFOros2_control_node[2026-09-12 04:44:22.012] [info] Received new action goal ×2 + 17.02sINFOros2_control_node[2026-09-12 04:44:22.012] [info] Accepted new action goal ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916317 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916317 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789188300.90185475 seconds ×3 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138749 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138749 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921803 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921803 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159257 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159257 ms (missed cycles : 5).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789188304.40242434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 04:45:04.616] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 04:45:04.616] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673391 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673391 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874894 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874894 ms (missed cycles : 4).[0m ×2 + 7.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350339 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350339 ms (missed cycles : 3).[0m ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 5 iterations (0.00509806 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.53sINFOros2_control_node[2026-09-12 04:45:09.132] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-09-12 04:45:09.132] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269750 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269750 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744004 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744004 ms (missed cycles : 2).[0m ×2 + 10.47sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749663 ms (missed cycles : 5). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749663 ms (missed cycles : 5).[0m ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.20sINFOobjective_server_nodeFound path in 1 iterations (0.00330567 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.44sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Received new action goal ×2 + 11.44sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Accepted new action goal ×2 + 11.87sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Accepted new action goal ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2).[0m ×2 + 13.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_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 + 14.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.19sERRORobjective_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: 1789188314.78919506 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789188315.60268855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 15.20sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3).[0m ×2 + 17.69sINFOros2_control_node[2026-09-12 04:45:18.291] [info] Received new action goal ×2 + 17.69sINFOros2_control_node[2026-09-12 04:45:18.291] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522373 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522373 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789188484.26714969 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.22sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.22sINFOobjective_server_nodecaller: ×8 + 3.22sINFOobjective_server_nodetype: 0 ×8 + 3.22sINFOobjective_server_nodename: "" ×8 + 3.22sINFOobjective_server_nodeinstance_id: "" ×8 + 3.22sINFOobjective_server_node ×8 + 3.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789188484.94416070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.41sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894862 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894862 ms (missed cycles : 3).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605392 ms (missed cycles : 4). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605392 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759686 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759686 ms (missed cycles : 2).[0m ×2 + 9.41sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976134 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976134 ms (missed cycles : 2).[0m ×2 + 10.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×2 + 13.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 14.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 14.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 15.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 15.76sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.77sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 15.77sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 16.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681706 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681706 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957733 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957733 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.25sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 1.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.28sINFOros2_control_node[2026-09-12 04:44:18.283] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-09-12 04:44:18.283] [info] Accepted new action goal ×2 + 1.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.87sINFOros2_control_node[2026-09-12 04:44:18.879] [info] Got request to cancel active goal. ×2 + 1.87sINFOros2_control_node[2026-09-12 04:44:18.879] [info] Canceling active goal... ×2 + 1.89sERRORobjective_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: 1789188258.89528060 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027145 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027145 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.43sINFOobjective_server_nodecaller: ×6 + 2.43sINFOobjective_server_nodetype: 0 ×6 + 2.43sINFOobjective_server_nodename: "" ×6 + 2.43sINFOobjective_server_nodeinstance_id: "" ×6 + 2.43sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789188259.50798750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.72sINFOros2_control_node[2026-09-12 04:44:19.731] [info] Received new action goal ×2 + 2.72sINFOros2_control_node[2026-09-12 04:44:19.731] [info] Accepted new action goal ×2 + 2.91sWARNros2_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 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091948 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091948 ms (missed cycles : 4).[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110885 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110885 ms (missed cycles : 3).[0m ×2 + 4.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.00sINFOros2_control_node[2026-09-12 04:44:22.012] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-12 04:44:22.012] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916317 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916317 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040963 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040963 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311310 ms (missed cycles : 5). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311310 ms (missed cycles : 5).[0m ×2 + 8.94sWARNros2_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 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709144 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709144 ms (missed cycles : 3).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312673 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312673 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 12.87sERRORobjective_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: 1789188269.87851381 seconds ×3 + 13.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 13.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.45sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239004 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239004 ms (missed cycles : 4).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434782 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434782 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598076 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598076 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394352 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394352 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2).[0m ×2 + 12.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3).[0m ×2 + 13.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188473.78059363 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4).[0m ×2 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789188474.37514758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.62sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.63sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.04sINFOros2_control_node[2026-09-12 04:44:46.102] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-09-12 04:44:46.102] [info] Accepted new action goal ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170242 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170242 ms (missed cycles : 2).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324733 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324733 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 9.38sINFOros2_control_node[2026-09-12 04:44:48.441] [info] Received new action goal ×2 + 9.38sINFOros2_control_node[2026-09-12 04:44:48.441] [info] Accepted new action goal ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209884 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209884 ms (missed cycles : 3).[0m ×2 + 10.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 11.73sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 11.73sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_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 + 13.81sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 13.81sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 13.83sERRORobjective_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: 1789188292.89104438 seconds ×3 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.66sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×4 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861493 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861493 ms (missed cycles : 5).[0m ×2 + 7.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.31sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 5 iterations (0.0052665 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244531 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244531 ms (missed cycles : 2).[0m ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.47sINFOros2_control_node[2026-09-12 04:44:58.337] [info] Received new action goal ×2 + 8.47sINFOros2_control_node[2026-09-12 04:44:58.337] [info] Accepted new action goal ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439886 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439886 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287767 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287767 ms (missed cycles : 3).[0m ×2 + 10.74sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.01sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.01sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789188300.90185475 seconds ×3 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138749 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138749 ms (missed cycles : 2).[0m ×2 + 12.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921803 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921803 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159257 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159257 ms (missed cycles : 5).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.54sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789188304.40242434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 14.75sINFOros2_control_node[2026-09-12 04:45:04.616] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-12 04:45:04.616] [info] Accepted new action goal ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673391 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673391 ms (missed cycles : 2).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874894 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874894 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 54 warnings · 2292 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 + 7.00sWARNros2_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 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459941 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459941 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599400 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599400 ms (missed cycles : 2).[0m ×2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.31sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 1 iterations (0.00408325 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.96sINFOros2_control_node[2026-09-12 04:47:37.743] [info] Received new action goal ×2 + 8.96sINFOros2_control_node[2026-09-12 04:47:37.744] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231120 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231120 ms (missed cycles : 3).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584914 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584914 ms (missed cycles : 3).[0m ×2 + 11.26sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 12.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 13.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.14sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 14.02sINFOobjective_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 + 14.02sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1789188462.82159042 seconds ×3 + 14.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 14.89sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 16.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.6s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1789188269.87851381 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067730 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067730 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.69sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.99sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 1 iterations (0.00384009 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.35sINFOros2_control_node[2026-09-12 04:44:35.661] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-09-12 04:44:35.661] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684978 ms (missed cycles : 5). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684978 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110703 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110703 ms (missed cycles : 3).[0m ×2 + 9.63sWARNros2_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 + 9.65sINFOros2_control_node[2026-09-12 04:44:37.964] [info] Received new action goal ×2 + 9.65sINFOros2_control_node[2026-09-12 04:44:37.964] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978676 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978676 ms (missed cycles : 3).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 11.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.62sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 12.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 13.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.46sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.41sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 15.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1789188473.78059363 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×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 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789188474.37514758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.79sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772061 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772061 ms (missed cycles : 4).[0m ×2 + 7.80sINFOros2_control_node[2026-09-12 04:47:58.682] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-09-12 04:47:58.682] [info] Accepted new action goal ×2 + 8.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212868 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212868 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086976 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086976 ms (missed cycles : 4).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522373 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522373 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2).[0m ×2 + 13.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789188484.26714969 seconds ×3 + 13.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.01sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.06sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789188484.94416070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.19sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.20sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Received new action goal ×2 + 14.20sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ 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 6.976500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789188326.86107278 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789188327.52606225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789188327.59618378 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789188328.19218159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 7.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.31sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.47sINFOobjective_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 + 7.47sINFOobjective_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 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 7.81sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 8.04sWARNros2_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 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 714 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.08sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.62sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.62sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.62sWARNros2_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 + 0.62sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.62sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.62sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.62sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.62sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.62sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.62sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.62sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.62sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.62sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.62sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.62sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.62sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.62sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.62sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.62sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.62sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.62sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.62sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.62sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.62sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.62sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.62sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.74sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.74sINFOcomponent_container_mt[2026-09-12 04:44:01.163] [moveit_pro_license] [info] ×2 + 0.74sINFOcomponent_container_mt************************************************* ×4 + 0.74sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.74sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513443 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513443 ms (missed cycles : 3).[0m ×2 + 0.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.04sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.04sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.08sINFOros2-3process has finished cleanly [pid 7222] ×2 + 1.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.22sINFOros2_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 + 1.22sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.22sWARNros2_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 + 1.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.25sINFOros2_control_node[2026-09-12 04:44:01.673] [info] Controller state will be published at 10 Hz. ×2 + 1.25sINFOros2_control_node[2026-09-12 04:44:01.674] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.52sINFOros2-7process has finished cleanly [pid 7237] ×2 + 1.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.86sINFOros2-4process has finished cleanly [pid 7234] ×2 + 1.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.94sWARNobjective_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 + 1.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 1.98sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 1.98sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.31sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.33sINFOros2-8process has finished cleanly [pid 7238] ×2 + 2.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 2.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 2.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.42sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.42sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.45sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.45sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 2.45sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.77sINFOobjective_server_nodecaller: ×14 + 2.77sINFOobjective_server_nodetype: 0 ×14 + 2.77sINFOobjective_server_nodename: "" ×14 + 2.77sINFOobjective_server_nodeinstance_id: "" ×14 + 2.77sINFOobjective_server_node ×14 + 2.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 2.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 2.81sINFOros2-6process has finished cleanly [pid 7236] ×2 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.85sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.85sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.85sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 2.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.86sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.86sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 3.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 3.16sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.17sINFOforce_torque_sensor_broadcasterconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.18sINFOros2-5process has finished cleanly [pid 7235] ×2 + 3.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOros2-2process has finished cleanly [pid 7221] ×2 + 4.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 4.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_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 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[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 + 7.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 8.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.21sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789188507.78168321 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.35sINFOobjective_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 + 4.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188512.25299859 seconds ×3 + 6.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789188326.86107278 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789188327.52606225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789188327.59618378 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789188328.19218159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_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 + 1.34sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 1.34sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 1.35sERRORobjective_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: 1789188507.78168321 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_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 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188512.25299859 seconds ×3 + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3).[0m ×2 + 7.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430973 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430973 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[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 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[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 2.312673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312673 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1789188269.87851381 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 558 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7234] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 7236] ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOforce_torque_sensor_broadcasterconfigure successful + 1.33sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 7235] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 3.06sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_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 + 1.34sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 1.34sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 1.35sERRORobjective_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: 1789188507.78168321 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_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 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054186 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188512.25299859 seconds ×3 + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762948 ms (missed cycles : 3).[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 2.312673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312673 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1789188269.87851381 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 22 warnings · 2178 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 + 7.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | 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 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[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 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 2.312673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312673 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1789188269.87851381 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1789188269.87851381 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1789188269.87851381 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1789188269.87851381 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852984 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149198 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1789188269.87851381 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789188270.54155397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885186 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789188270.62167358 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789188271.26129079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-12 04:44:31.455] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918168 ms (missed cycles : 5).[0m ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032574 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790757 ms (missed cycles : 2).[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 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[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 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[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 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[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 5.865560 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865560 ms (missed cycles : 4).[0m ×2 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-12 04:44:39.936] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344287 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058707 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789188281.23532033 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789188281.85507464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789188281.94519234 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139111 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.52sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789188282.58858466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-12 04:44:42.723] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406359 ms (missed cycles : 2).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250960 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354991 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416221 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-12 04:44:50.790] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183856 ms (missed cycles : 4).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799408 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-12 04:44:52.878] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1789188292.89104438 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078518 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789188293.52991986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-12 04:44:53.723] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830680 ms (missed cycles : 5).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967591 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00330567 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-12 04:45:12.042] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-12 04:45:12.474] [info] Accepted new action goal ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088281 ms (missed cycles : 5).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073245 ms (missed cycles : 2).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789547 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188314.78919506 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789188315.60268855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183811 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-12 04:45:15.796] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562811 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908070 ms (missed cycles : 3).[0m ×2 + 6.64sINFOros2_control_node[2026-09-12 04:45:18.291] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-12 04:45:18.291] [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 6.976500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976500 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732982 ms (missed cycles : 3).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508343 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789188326.86107278 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789188327.52606225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789188327.59618378 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965110 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789188328.19218159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[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: 1789188328.19218159 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 (3.2e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-12 04:45:28.327] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748806 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705161 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789188330.33230329 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491514 ms (missed cycles : 6).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789188331.98701763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425865 ms (missed cycles : 4).[0m ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-12 04:45:32.414] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076139 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640055 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369204 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734986 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326310 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789188385.45378852 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sWARNros2_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 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789188386.06480622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.12sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-12 04:46:26.228] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201581 ms (missed cycles : 3).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764852 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785096 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 · 2178 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2178 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2178 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2178 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×698 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×348 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×348 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×696 + 0.20sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765607 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920349 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249433 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789188452.06442046 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371679 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789188452.76675010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-12 04:47:32.982] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159595 ms (missed cycles : 4).[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 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 04:47:40.046] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022860 ms (missed cycles : 4).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372081 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-12 04:47:41.920] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709801 ms (missed cycles : 5).[0m ×2 + 2.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-12 04:47:42.807] [info] Canceling active goal... ×2 + 2.77sERRORobjective_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: 1789188462.82159042 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 + 2.82sINFOros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513238 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789188463.49016953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 04:47:43.674] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468065 ms (missed cycles : 6).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660656 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963688 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737809 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289374 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1789188473.78059363 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011227 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×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 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789188474.37514758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.79sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-12 04:47:54.673] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986262 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935482 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297538 ms (missed cycles : 2).[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 4.522373 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522373 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861193 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673439 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789188484.26714969 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968124 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789188484.94416070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.41sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-12 04:48:05.078] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739177 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792294 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182036 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×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: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[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 2.164493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_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 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2).[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 2.164493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_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 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2).[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 2.164493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164493 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975327 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789188495.28079247 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789188495.90465927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640666 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789188495.98479390 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789188496.58946753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_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 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789188496.61198044 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282398 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789188497.30578780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 04:48:17.430] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943220 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176322 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789188507.78168321 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.35sINFOobjective_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 + 4.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233724 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009344 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049423 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-12 04:48:27.776] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789188507.78168321 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188508.37805176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449992 ms (missed cycles : 3).[0m ×2 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188509.09818172 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789188509.69110465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.35sINFOobjective_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 + 4.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789188509.69307113 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789188510.36146092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789188510.41242766 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780401 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188511.00287867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [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 | 6.8s | 40 warnings · 770 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/2026-09-12-04-43-56-507641-6d27cd365e4c-7172 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.83sINFOros2_control_node-1process started with pid [7220] ×2 + 0.83sINFOmove_group-9process started with pid [7261] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7262] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7263] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7264] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7265] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7266] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7267] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7268] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7269] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7270] ×2 + 0.83sINFOweb_bridge-19process started with pid [7271] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7354] ×2 + 0.83sINFOvideo_server-21process started with pid [7355] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7356] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7357] ×2 + 0.83sINFOros2-2process started with pid [7221] ×2 + 0.84sINFOros2-3process started with pid [7222] ×2 + 0.84sINFOros2-4process started with pid [7234] ×2 + 0.84sINFOros2-5process started with pid [7235] ×2 + 0.84sINFOros2-6process started with pid [7236] ×2 + 0.84sINFOros2-7process started with pid [7237] ×2 + 0.84sINFOros2-8process started with pid [7238] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229906 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229906 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF configuration loaded from /tmp/moveit-webrtc-ag09ts_x/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.51sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-09-12 04:43:58.654] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471609 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471609 ms (missed cycles : 3).[0m ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-12 04:43:59.102] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.31sINFOmove_group ×4 + 2.31sINFOmove_group[92mYou can start planning now![0m ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.27sINFOobjective_server_node[2026-09-12 04:44:00.148] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.61sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.16sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.16sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.16sWARNros2_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 + 4.16sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.16sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.16sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.16sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.16sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.16sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.16sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.16sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.16sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.16sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.16sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.16sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.16sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.16sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.16sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.27sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.27sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.27sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.27sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 4.27sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 4.28sINFOcomponent_container_mt[2026-09-12 04:44:01.163] [moveit_pro_license] [info] ×2 + 4.28sINFOcomponent_container_mt************************************************* ×4 + 4.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.28sWARNrobotiq_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 + 4.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×18 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513443 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513443 ms (missed cycles : 3).[0m ×2 + 4.30sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.30sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.48sINFOlaunch_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' + 4.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.62sINFOros2-3process has finished cleanly [pid 7222] ×2 + 4.69sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 4.69sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 4.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.76sINFOros2_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 + 4.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.76sWARNros2_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 + 4.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.79sINFOros2_control_node[2026-09-12 04:44:01.673] [info] Controller state will be published at 10 Hz. ×2 + 4.79sINFOros2_control_node[2026-09-12 04:44:01.674] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 5.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 5.06sINFOros2-7process has finished cleanly [pid 7237] ×2 + 5.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.40sINFOros2-4process has finished cleanly [pid 7234] ×2 + 5.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 5.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 5.47sWARNobjective_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 + 5.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 5.51sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 5.52sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 5.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 5.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.85sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.85sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.85sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.87sINFOros2-8process has finished cleanly [pid 7238] ×2 + 5.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 5.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [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 04:44:02.843] [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 04:44:02.843] [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 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.98sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 5.99sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.31sINFOobjective_server_nodecaller: ×10 + 6.31sINFOobjective_server_nodetype: 0 ×10 + 6.31sINFOobjective_server_nodename: "" ×10 + 6.31sINFOobjective_server_nodeinstance_id: "" ×10 + 6.31sINFOobjective_server_node ×10 + 6.31sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 6.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 6.34sINFOros2-6process has finished cleanly [pid 7236] ×2 + 6.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.38sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 6.39sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.39sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.39sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.40sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.40sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 6.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 6.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.71sINFOforce_torque_sensor_broadcasterconfigure successful + 6.71sINFOros2_control_nodeconfigure successful[0m ×2 + 6.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.71sINFOros2-5process has finished cleanly [pid 7235] ×2 + 6.72sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.72sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.94sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.04sINFOros2-2process has finished cleanly [pid 7221] ×2 + 8.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 8.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 8.44sWARNros2_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 + 8.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 9.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 10.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 378 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.28sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.38sINFOros2-2process has finished cleanly [pid 7221] ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_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 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sWARNros2_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 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.09sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 7.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.52sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.61sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 505 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7236] ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 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_managerActivated controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 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 + 1.20sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 2.59sWARNros2_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 + 2.83sINFOobjective_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: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-12-04-43-56-507641-6d27cd365e4c-7172 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.83sINFOros2_control_node-1process started with pid [7220] ×2 + 0.83sINFOmove_group-9process started with pid [7261] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7262] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7263] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7264] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7265] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7266] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7267] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7268] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7269] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7270] ×2 + 0.83sINFOweb_bridge-19process started with pid [7271] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7354] ×2 + 0.83sINFOvideo_server-21process started with pid [7355] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7356] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7357] ×2 + 0.83sINFOros2-2process started with pid [7221] ×2 + 0.84sINFOros2-3process started with pid [7222] ×2 + 0.84sINFOros2-4process started with pid [7234] ×2 + 0.84sINFOros2-5process started with pid [7235] ×2 + 0.84sINFOros2-6process started with pid [7236] ×2 + 0.84sINFOros2-7process started with pid [7237] ×2 + 0.84sINFOros2-8process started with pid [7238] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229906 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229906 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF configuration loaded from /tmp/moveit-webrtc-ag09ts_x/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/12 04:43:58 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.51sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-09-12 04:43:58.654] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471609 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471609 ms (missed cycles : 3).[0m ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-12 04:43:59.102] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.31sINFOmove_group ×4 + 2.31sINFOmove_group[92mYou can start planning now![0m ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.27sINFOobjective_server_node[2026-09-12 04:44:00.148] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.61sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 558 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7234] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 7236] ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOforce_torque_sensor_broadcasterconfigure successful + 1.33sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 7235] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 3.06sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 558 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7234] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 7236] ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOforce_torque_sensor_broadcasterconfigure successful + 1.33sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 7235] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 3.06sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 558 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7234] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737244 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.397] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-12 04:44:02.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.93sINFOobjective_server_nodecaller: ×14 + 0.93sINFOobjective_server_nodetype: 0 ×14 + 0.93sINFOobjective_server_nodename: "" ×14 + 0.93sINFOobjective_server_nodeinstance_id: "" ×14 + 0.93sINFOobjective_server_node ×14 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 7236] ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 1.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOforce_torque_sensor_broadcasterconfigure successful + 1.33sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 7235] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 3.06sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 505 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-12 04:44:02.843] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.867] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.867] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-12 04:44:02.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7236] ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188243.26248097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188243.27279735 seconds ×3 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 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_managerActivated controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 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 + 1.20sINFOros2-2process has finished cleanly [pid 7221] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 2.59sWARNros2_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 + 2.83sINFOobjective_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: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 362 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aaxsymed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8orvedps --params-file /tmp/launch_params_pnia7luf [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.28sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686147 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789188243.87791944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.38sINFOros2-2process has finished cleanly [pid 7221] ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_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 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sWARNros2_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 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.09sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577975 ms (missed cycles : 6). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577975 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789188244.98813415 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782109 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_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 + 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789188245.60690165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789188245.66708136 seconds ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730684 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188246.32334352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188246.34345722 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 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188246.96607137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188247.11660004 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480306 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188247.84123635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188247.88134861 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060293 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789188248.49870944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.7087e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 04:44:08.635] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962168 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800127 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 04:44:11.153] [info] Accepted new action goal ×2 | ||||