129
Total objective tests
32
Objectives passed
0
Objectives failed
97
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 | 165 warnings · 19644 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789630159.91640306 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789630160.52001333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.62sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_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 + 4.89sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 ms (missed cycles : 2).[0m ×2 + 7.07sINFOjoint_trajectory_controllerReceived new action goal ×3230 + 7.07sINFOjoint_trajectory_controllerAccepted new action goal ×3230 + 7.07sINFOros2_control_nodeReceived new action goal[0m ×6460 + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×6460 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732024 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732024 ms (missed cycles : 2).[0m ×2 + 8.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×4 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528044 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528044 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015237 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015237 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707644 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707644 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717960 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717960 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.96sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.96sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973686 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973686 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806703 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806703 ms (missed cycles : 2).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805111 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805111 ms (missed cycles : 2).[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780729 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780729 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649122 ms (missed cycles : 4). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649122 ms (missed cycles : 4).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136770 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136770 ms (missed cycles : 2).[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903939 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903939 ms (missed cycles : 2).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999500 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999500 ms (missed cycles : 2).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033927 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033927 ms (missed cycles : 2).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703707 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703707 ms (missed cycles : 2).[0m ×2 + 23.53sWARNros2_control_nodeCamera render tick took 1.08 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 + 23.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.87 s); wrist_camera (1.87 s). The render path has stopped producing new frames for them.[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 31.010609 ms (missed cycles : 19). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 31.010609 ms (missed cycles : 19).[0m ×2 + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383718 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383718 ms (missed cycles : 2).[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965569 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965569 ms (missed cycles : 2).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137796 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137796 ms (missed cycles : 2).[0m ×2 + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822215 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822215 ms (missed cycles : 2).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107192 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107192 ms (missed cycles : 2).[0m ×2 + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920609 ms (missed cycles : 2). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920609 ms (missed cycles : 2).[0m ×2 + 31.32sWARNros2_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 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086175 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086175 ms (missed cycles : 2).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.294110 ms (missed cycles : 6). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.294110 ms (missed cycles : 6).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854323 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854323 ms (missed cycles : 2).[0m ×2 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705226 ms (missed cycles : 3). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705226 ms (missed cycles : 3).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033066 ms (missed cycles : 2). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033066 ms (missed cycles : 2).[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819041 ms (missed cycles : 2). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819041 ms (missed cycles : 2).[0m ×2 + 38.21sWARNros2_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 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481052 ms (missed cycles : 5). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481052 ms (missed cycles : 5).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794473 ms (missed cycles : 2). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794473 ms (missed cycles : 2).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182034 ms (missed cycles : 2). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182034 ms (missed cycles : 2).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000676 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000676 ms (missed cycles : 2).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855946 ms (missed cycles : 2). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855946 ms (missed cycles : 2).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454052 ms (missed cycles : 2). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454052 ms (missed cycles : 2).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418807 ms (missed cycles : 2). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418807 ms (missed cycles : 2).[0m ×2 + 47.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630204.38741326 seconds ×3 + 47.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648614 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648614 ms (missed cycles : 2).[0m ×2 + 47.87sINFOobjective_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: ""
+ 47.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789630205.01644278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.10sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 48.11sINFOros2_control_node[2026-09-17 07:30:05.170] [info] Received new action goal ×2 + 48.11sINFOros2_control_node[2026-09-17 07:30:05.170] [info] Accepted new action goal ×2 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256756 ms (missed cycles : 5). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256756 ms (missed cycles : 5).[0m ×2 + 49.27sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367283 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367283 ms (missed cycles : 2).[0m ×2 + 49.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587032 ms (missed cycles : 4). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587032 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-17 07:28:30.211] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-17 07:28:30.211] [info] Accepted new action goal ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375495 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375495 ms (missed cycles : 3).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096161 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096161 ms (missed cycles : 2).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612123 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612123 ms (missed cycles : 4).[0m ×2 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.28sINFOros2_control_node[2026-09-17 07:28:33.381] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-09-17 07:28:33.381] [info] Accepted new action goal ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253495 ms (missed cycles : 4). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253495 ms (missed cycles : 4).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888459 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888459 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-17 07:28:36.405] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-17 07:28:36.405] [info] Accepted new action goal ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425665 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425665 ms (missed cycles : 3).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529193 ms (missed cycles : 4). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529193 ms (missed cycles : 4).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797134 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797134 ms (missed cycles : 2).[0m ×2 + 16.27sINFOobjective_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 + 16.27sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304906 ms (missed cycles : 4). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304906 ms (missed cycles : 4).[0m ×2 + 17.06sWARNros2_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 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101085 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101085 ms (missed cycles : 3).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671134 ms (missed cycles : 5). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671134 ms (missed cycles : 5).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524891 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524891 ms (missed cycles : 2).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173830 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173830 ms (missed cycles : 4).[0m ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964769 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964769 ms (missed cycles : 3).[0m ×2 + 22.07sWARNros2_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 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736113 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736113 ms (missed cycles : 2).[0m ×2 + 23.08sINFOobjective_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 + 23.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.08sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.04sINFOros2_control_node[2026-09-17 07:28:47.145] [info] Received new action goal ×2 + 24.04sINFOros2_control_node[2026-09-17 07:28:47.145] [info] Accepted new action goal ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147343 ms (missed cycles : 3). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147343 ms (missed cycles : 3).[0m ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928398 ms (missed cycles : 3). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928398 ms (missed cycles : 3).[0m ×2 + 25.21sINFOobjective_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 + 25.22sINFOobjective_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 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 25.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.55sINFOros2_control_node[2026-09-17 07:28:48.649] [info] Received new action goal ×2 + 25.55sINFOros2_control_node[2026-09-17 07:28:48.649] [info] Accepted new action goal ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996658 ms (missed cycles : 5). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996658 ms (missed cycles : 5).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804894 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804894 ms (missed cycles : 2).[0m ×2 + 27.68sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 27.69sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.69sINFOros2_control_node[2026-09-17 07:28:50.795] [info] Received new action goal ×2 + 27.69sINFOros2_control_node[2026-09-17 07:28:50.795] [info] Accepted new action goal ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683629 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683629 ms (missed cycles : 3).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695778 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695778 ms (missed cycles : 2).[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724138 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724138 ms (missed cycles : 2).[0m ×2 + 30.69sINFOros2_control_node[2026-09-17 07:28:53.785] [info] Received new action goal ×2 + 30.69sINFOros2_control_node[2026-09-17 07:28:53.785] [info] Accepted new action goal ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674103 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674103 ms (missed cycles : 3).[0m ×2 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004279 ms (missed cycles : 3). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004279 ms (missed cycles : 3).[0m ×2 + 33.28sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 33.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.34sINFOros2_control_node[2026-09-17 07:28:56.445] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-09-17 07:28:56.445] [info] Accepted new action goal ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100989 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100989 ms (missed cycles : 2).[0m ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991479 ms (missed cycles : 5). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991479 ms (missed cycles : 5).[0m ×2 + 34.80sWARNros2_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 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869365 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869365 ms (missed cycles : 2).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695601 ms (missed cycles : 2). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695601 ms (missed cycles : 2).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364248 ms (missed cycles : 4). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364248 ms (missed cycles : 4).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840092 ms (missed cycles : 2). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840092 ms (missed cycles : 2).[0m ×2 + 39.81sWARNros2_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 + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471397 ms (missed cycles : 2). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471397 ms (missed cycles : 2).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269931 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269931 ms (missed cycles : 2).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549900 ms (missed cycles : 3). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549900 ms (missed cycles : 3).[0m ×2 + 43.23sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011708 ms (missed cycles : 5). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011708 ms (missed cycles : 5).[0m ×2 + 44.03sINFOros2_control_node[2026-09-17 07:29:07.135] [info] Received new action goal ×2 + 44.03sINFOros2_control_node[2026-09-17 07:29:07.135] [info] Accepted new action goal ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697202 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697202 ms (missed cycles : 3).[0m ×2 + 45.19sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789630148.29167652 seconds ×3 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138890 ms (missed cycles : 4). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138890 ms (missed cycles : 4).[0m ×2 + 45.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.80sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.84sWARNros2_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 + 45.99sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789630149.09623384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133223 ms (missed cycles : 4). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133223 ms (missed cycles : 4).[0m ×2 + 47.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 47.03sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.04sINFOros2_control_node[2026-09-17 07:29:10.146] [info] Received new action goal ×2 + 47.04sINFOros2_control_node[2026-09-17 07:29:10.146] [info] Accepted new action goal ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833816 ms (missed cycles : 2). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833816 ms (missed cycles : 2).[0m ×2 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244129 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244129 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13632 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2239 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2239 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4478 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4478 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2).[0m ×2 + 0.28sWARNros2_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 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454052 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454052 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418807 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418807 ms (missed cycles : 2).[0m ×2 + 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 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630204.38741326 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648614 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648614 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789630205.01644278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.07sINFOros2_control_node[2026-09-17 07:30:05.170] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-17 07:30:05.170] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256756 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256756 ms (missed cycles : 5).[0m ×2 + 5.23sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367283 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367283 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_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 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587032 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587032 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219963 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219963 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.492870 ms (missed cycles : 6). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.492870 ms (missed cycles : 6).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847434 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847434 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052391 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052391 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074534 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074534 ms (missed cycles : 2).[0m ×2 + 12.18sWARNros2_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 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616894 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616894 ms (missed cycles : 4).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691356 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691356 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759401 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759401 ms (missed cycles : 2).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078170 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078170 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264410 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264410 ms (missed cycles : 2).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157860 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157860 ms (missed cycles : 2).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909125 ms (missed cycles : 2). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909125 ms (missed cycles : 2).[0m ×2 + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487448 ms (missed cycles : 6). + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487448 ms (missed cycles : 6).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194162 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194162 ms (missed cycles : 2).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 25.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 26.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 26.02sINFOobjective_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: ""
+ 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 26.32sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 26.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.33sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 26.33sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8).[0m ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00319653 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.52sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[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 + 2.89sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.89sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.92sERRORobjective_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: 1789630089.70957232 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.60sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.60sINFOobjective_server_nodecaller: ×6 + 3.60sINFOobjective_server_nodetype: 0 ×6 + 3.60sINFOobjective_server_nodename: "" ×6 + 3.60sINFOobjective_server_nodeinstance_id: "" ×6 + 3.60sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789630090.50990272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3).[0m ×2 + 6.48sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485883 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485883 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866148 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866148 ms (missed cycles : 3).[0m ×2 + 9.12sWARNros2_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 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713795 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713795 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626189 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626189 ms (missed cycles : 4).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5).[0m ×2 + 15.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789630101.83323193 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2).[0m ×2 + 15.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789630102.48946595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789630102.55958605 seconds ×3 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.50sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 16.50sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 18.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549900 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549900 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_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 + 0.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.83sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.83sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011708 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011708 ms (missed cycles : 5).[0m ×2 + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.75sINFOros2_control_node[2026-09-17 07:29:07.135] [info] Received new action goal ×2 + 1.75sINFOros2_control_node[2026-09-17 07:29:07.135] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697202 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697202 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789630148.29167652 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138890 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138890 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.56sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789630149.09623384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133223 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133223 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.77sINFOros2_control_node[2026-09-17 07:29:10.146] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-17 07:29:10.146] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833816 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833816 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244129 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244129 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538992 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538992 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573733 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573733 ms (missed cycles : 4).[0m ×2 + 8.47sINFOobjective_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 + 8.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.47sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.47sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.47sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.58sWARNros2_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 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421656 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421656 ms (missed cycles : 5).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015211 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015211 ms (missed cycles : 2).[0m ×2 + 10.89sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.93sINFOros2_control_node[2026-09-17 07:29:16.312] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-09-17 07:29:16.312] [info] Accepted new action goal ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789630159.91640306 seconds ×3 + 14.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3).[0m ×2 + 15.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.08sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789630160.52001333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 15.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.30sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3).[0m ×2 + 16.57sINFOobjective_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 + 16.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 62 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.91sERRORobjective_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: 1789630270.18366051 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.47sINFOobjective_server_nodecaller: ×14 + 2.47sINFOobjective_server_nodetype: 0 ×14 + 2.47sINFOobjective_server_nodename: "" ×14 + 2.47sINFOobjective_server_nodeinstance_id: "" ×14 + 2.47sINFOobjective_server_node ×14 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764737 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764737 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.37sINFOros2_control_node[2026-09-17 07:31:15.639] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-09-17 07:31:15.639] [info] Accepted new action goal ×2 + 7.37sINFOros2_control_node[2026-09-17 07:31:15.639] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279989 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279989 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732353 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732353 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662608 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662608 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6).[0m ×2 + 11.64sWARNros2_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 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 14.40sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 14.40sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 14.41sERRORobjective_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: 1789630282.68196034 seconds ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 16.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.34sINFOobjective_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 + 16.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 16.68sWARNros2_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 + 16.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.95sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 17.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 54 warnings · 233 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.21sINFOobjective_server_nodecaller: ×6 + 2.21sINFOobjective_server_nodetype: 0 ×6 + 2.21sINFOobjective_server_nodename: "" ×6 + 2.21sINFOobjective_server_nodeinstance_id: "" ×6 + 2.21sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.50sINFOros2_control_node[2026-09-17 07:27:40.695] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-17 07:27:40.695] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828830 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828830 ms (missed cycles : 5).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546590 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546590 ms (missed cycles : 3).[0m ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.85sINFOros2_control_node[2026-09-17 07:27:43.043] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-09-17 07:27:43.043] [info] Accepted new action goal ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388785 ms (missed cycles : 6). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388785 ms (missed cycles : 6).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.20sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 13.54sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 13.54sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 13.58sINFOobjective_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 + 13.58sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 13.58sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 13.60sERRORobjective_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: 1789630067.79612803 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.44sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2262 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816711 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816711 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.461472 ms (missed cycles : 6). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.461472 ms (missed cycles : 6).[0m ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 1 iterations (0.00421446 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.92sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.94sINFOros2_control_node[2026-09-17 07:30:32.157] [info] Received new action goal ×2 + 8.94sINFOros2_control_node[2026-09-17 07:30:32.157] [info] Accepted new action goal ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257080 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257080 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331653 ms (missed cycles : 5). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331653 ms (missed cycles : 5).[0m ×2 + 10.67sWARNros2_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 + 11.24sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 11.24sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 12.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.87sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 12.87sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 14.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 15.33sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×2 + 15.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 17.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 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: 1789630020.39359975 seconds ×3 + 0.92sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_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 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.63sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.13sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024216 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024216 ms (missed cycles : 5).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074003 ms (missed cycles : 5). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074003 ms (missed cycles : 5).[0m ×2 + 8.35sWARNros2_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 ×4 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451338 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451338 ms (missed cycles : 3).[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 9.79sINFOros2_control_node[2026-09-17 07:27:09.511] [info] Received new action goal ×2 + 9.79sINFOros2_control_node[2026-09-17 07:27:09.511] [info] Accepted new action goal ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865540 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865540 ms (missed cycles : 3).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937477 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937477 ms (missed cycles : 2).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621288 ms (missed cycles : 5). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621288 ms (missed cycles : 5).[0m ×2 + 13.11sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.13sINFOros2_control_node[2026-09-17 07:27:12.852] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-09-17 07:27:12.852] [info] Accepted new action goal ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229873 ms (missed cycles : 4). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229873 ms (missed cycles : 4).[0m ×2 + 13.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOros2_control_node[2026-09-17 07:27:13.677] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-09-17 07:27:13.677] [info] Canceling active goal... ×2 + 13.98sERRORobjective_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: 1789630033.69392347 seconds ×3 + 13.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.180942 ms (missed cycles : 8). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.180942 ms (missed cycles : 8).[0m ×2 + 14.51sINFOobjective_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: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789630034.30313468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 14.80sINFOros2_control_node[2026-09-17 07:27:14.517] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-17 07:27:14.517] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057172 ms (missed cycles : 5). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057172 ms (missed cycles : 5).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478873 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478873 ms (missed cycles : 3).[0m ×2 + 17.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 17.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.08sINFOros2_control_node[2026-09-17 07:27:16.797] [info] Received new action goal ×2 + 17.08sINFOros2_control_node[2026-09-17 07:27:16.797] [info] Accepted new action goal ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648647 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648647 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937477 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937477 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621288 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621288 ms (missed cycles : 5).[0m ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.92sINFOros2_control_node[2026-09-17 07:27:12.852] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-17 07:27:12.852] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229873 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229873 ms (missed cycles : 4).[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: ``}. ×6 + 2.75sINFOros2_control_node[2026-09-17 07:27:13.677] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-17 07:27:13.677] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789630033.69392347 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.180942 ms (missed cycles : 8). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.180942 ms (missed cycles : 8).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.30sINFOobjective_server_nodecaller: ×6 + 3.30sINFOobjective_server_nodetype: 0 ×6 + 3.30sINFOobjective_server_nodename: "" ×6 + 3.30sINFOobjective_server_nodeinstance_id: "" ×6 + 3.30sINFOobjective_server_node ×6 + 3.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789630034.30313468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-09-17 07:27:14.517] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-17 07:27:14.517] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057172 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057172 ms (missed cycles : 5).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478873 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478873 ms (missed cycles : 3).[0m ×2 + 5.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.87sINFOros2_control_node[2026-09-17 07:27:16.797] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-17 07:27:16.797] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648647 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648647 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955130 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955130 ms (missed cycles : 5).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667130 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667130 ms (missed cycles : 2).[0m ×2 + 9.21sWARNros2_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 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202111 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202111 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599086 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599086 ms (missed cycles : 3).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 13.75sERRORobjective_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: 1789630044.68379807 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 15.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sWARNros2_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 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.36sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045130 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045130 ms (missed cycles : 2).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622042 ms (missed cycles : 4). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622042 ms (missed cycles : 4).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788328 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788328 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352649 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352649 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2).[0m ×2 + 14.22sINFOobjective_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 + 14.22sERRORobjective_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: 1789630248.68506289 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789630249.28234744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.18sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Accepted new action goal ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5).[0m ×2 + 15.42sWARNros2_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 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 199 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.57sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304395 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304395 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 5 iterations (0.00506931 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (1.98e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (1.79e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.70sINFOros2_control_node[2026-09-17 07:27:53.519] [info] Received new action goal ×2 + 8.71sINFOros2_control_node[2026-09-17 07:27:53.519] [info] Accepted new action goal ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605254 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605254 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839898 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839898 ms (missed cycles : 2).[0m ×2 + 10.97sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868462 ms (missed cycles : 5). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868462 ms (missed cycles : 5).[0m ×2 + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.24sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789630076.08822966 seconds ×3 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298706 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298706 ms (missed cycles : 2).[0m ×2 + 12.34sWARNros2_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 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658649 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658649 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546206 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546206 ms (missed cycles : 3).[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789630079.40617728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 14.82sINFOros2_control_node[2026-09-17 07:27:59.630] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-09-17 07:27:59.630] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.501424 ms (missed cycles : 7). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.501424 ms (missed cycles : 7).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709074 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709074 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965098 ms (missed cycles : 3). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965098 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNros2_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789630259.23817229 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.82sINFOobjective_server_nodecaller: ×8 + 3.82sINFOobjective_server_nodetype: 0 ×8 + 3.82sINFOobjective_server_nodename: "" ×8 + 3.82sINFOobjective_server_nodeinstance_id: "" ×8 + 3.82sINFOobjective_server_node ×8 + 3.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789630259.89337730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.02sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294471 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294471 ms (missed cycles : 3).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793369 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793369 ms (missed cycles : 2).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418863 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418863 ms (missed cycles : 2).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628752 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628752 ms (missed cycles : 3).[0m ×2 + 10.32sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 13.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[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 + 14.17sERRORobjective_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: 1789630270.18366051 seconds ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 15.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 16.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.11sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.31sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 16.31sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868462 ms (missed cycles : 5). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868462 ms (missed cycles : 5).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789630076.08822966 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298706 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298706 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658649 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658649 ms (missed cycles : 3).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546206 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546206 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789630079.40617728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-17 07:27:59.630] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-17 07:27:59.630] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.501424 ms (missed cycles : 7). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.501424 ms (missed cycles : 7).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709074 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709074 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965098 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965098 ms (missed cycles : 3).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769821 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769821 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 5 iterations (0.00570038 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (1.79e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.61sINFOros2_control_node[2026-09-17 07:28:04.392] [info] Received new action goal ×2 + 8.61sINFOros2_control_node[2026-09-17 07:28:04.393] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.520088 ms (missed cycles : 7). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.520088 ms (missed cycles : 7).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433144 ms (missed cycles : 4). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433144 ms (missed cycles : 4).[0m ×2 + 10.55sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8).[0m ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 11.28sINFOobjective_server_nodeFound path in 1 iterations (0.00319653 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.53sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Received new action goal ×2 + 11.53sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Accepted new action goal ×2 + 11.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Received new action goal ×2 + 11.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_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 + 13.89sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.89sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.93sERRORobjective_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: 1789630089.70957232 seconds ×3 + 14.05sWARNros2_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 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3).[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789630090.50990272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 14.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3).[0m ×2 + 17.49sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Received new action goal ×2 + 17.49sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 61 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 0.74sINFOobjective_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 + 0.74sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 0.74sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789630282.68196034 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.29sINFOobjective_server_nodecaller: ×8 + 1.29sINFOobjective_server_nodetype: 0 ×8 + 1.29sINFOobjective_server_nodename: "" ×8 + 1.29sINFOobjective_server_nodeinstance_id: "" ×8 + 1.29sINFOobjective_server_node ×8 + 1.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 3.03sWARNros2_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789630286.56869817 seconds ×3 + 4.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349105 ms (missed cycles : 6). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349105 ms (missed cycles : 6).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.705446 ms (missed cycles : 8). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.705446 ms (missed cycles : 8).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914932 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914932 ms (missed cycles : 2).[0m ×2 + 9.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913286 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913286 ms (missed cycles : 2).[0m ×2 + 10.50sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.52sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORweb_video_auth_proxy-23process has died [pid 7353, 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 + 10.52sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.52sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.53sERRORweb_bridge_auth_proxy-22process has died [pid 7352, 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 + 10.53sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.53sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.53sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.54sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.54sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.55sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.55sINFOvideo_server-21process has finished cleanly [pid 7351] ×2 + 10.55sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.55sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.56sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.56sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.57sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.57sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.58sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.58sINFOcontroller_managerShutdown request received.... + 10.58sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.58sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.58sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.58sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.58sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.58sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.58sINFOvideo_server2026/09/17 07:31:32 INF shutting down gracefully ×2 + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.58sINFOvideo_server2026/09/17 07:31:32 INF [WebRTC] closing ×2 + 10.58sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.58sINFOvideo_server2026/09/17 07:31:32 INF [RTSP] closing ×2 + 10.58sINFOvideo_server2026/09/17 07:31:32 INF waiting for running hooks ×2 + 10.58sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.58sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOcontroller_managerShutting down the controller manager. + 10.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.58sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.58sERRORmove_groupStack trace (most recent call last) in thread 7701: ×2 + 10.58sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.58sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.58sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.58sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.59sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.59sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.59sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.59sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.59sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcdaf6e9a63, in __clone ×2 + 10.59sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcdaf65caa3, in ×2 + 10.59sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcdaf8eedb3, in ×2 + 10.59sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fcdb0052b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.59sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcdafc80620, in rclcpp::Rate::sleep() ×2 + 10.59sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcdafbc2d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.59sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcdafb84087, in ×2 + 10.59sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcdaf8bd390, in __cxa_throw ×2 + 10.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcdaf8a7a54, in std::terminate() ×2 + 10.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcdaf8bd0d9, in ×2 + 10.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcdaf8a7ff4, in ×2 + 10.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcdaf5e88fe, in abort ×2 + 10.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcdaf60527d, in raise ×2 + 10.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcdaf65eb2c, in pthread_kill ×2 + 10.59sERRORmove_groupAborted (Signal sent by tkill() 7244 0) ×2 + 10.60sERRORmove_group-9process has died [pid 7244, 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_cywdvtoa --params-file /tmp/launch_params_29e5hxne --params-file /tmp/launch_params_zj27q1u4 --params-file /tmp/launch_params_ltz3hr89 --params-file /tmp/launch_params_2m_sfife --params-file /tmp/launch_params_3nxf3twz']. ×2 + 10.79sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.79sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.58sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7349] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.60sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7266] ×2 + 11.60sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7265] ×2 + 11.64sINFOui_teleop_bridge-18process has finished cleanly [pid 7271] ×2 + 11.64sINFOexecute_objective_bridge-17process has finished cleanly [pid 7270] ×2 + 11.64sINFOwaypoint_manager_node-11process has finished cleanly [pid 7263] ×2 + 11.65sINFOparameter_manager_node-10process has finished cleanly [pid 7247] ×2 + 11.70sINFOcomponent_container_mt-16process has finished cleanly [pid 7269] ×2 + 11.75sINFOobjective_server_node[0;m[2026-09-17 07:31:33.682] [moveit_pro_license] [info] ×2 + 11.75sINFOobjective_server_node************************************************* ×4 + 11.75sINFOobjective_server_node* MoveIt Pro License ×2 + 11.75sINFOobjective_server_node* Application has successfully terminated ×2 + 11.87sINFOobjective_server_node_main-14process has finished cleanly [pid 7267] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.74sINFOcomponent_container_mt-15process has finished cleanly [pid 7268] ×2 + 12.78sINFOweb_bridge-19process has finished cleanly [pid 7272] ×2 + 12.78sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.22sINFOros2_control_node-1process has finished cleanly [pid 7225] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 52 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352649 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1789630248.68506289 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789630249.28234744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5).[0m ×2 + 4.41sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166462 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166462 ms (missed cycles : 2).[0m ×2 + 8.18sINFOros2_control_node[2026-09-17 07:30:53.653] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-09-17 07:30:53.653] [info] Accepted new action goal ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647592 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647592 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090263 ms (missed cycles : 5). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090263 ms (missed cycles : 5).[0m ×2 + 10.53sWARNros2_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 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4).[0m ×2 + 13.76sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789630259.23817229 seconds ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6).[0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789630259.89337730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.55sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2).[0m ×2 + 16.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.4s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.70sINFOobjective_server_nodecaller: ×8 + 2.70sINFOobjective_server_nodetype: 0 ×8 + 2.70sINFOobjective_server_nodename: "" ×8 + 2.70sINFOobjective_server_nodeinstance_id: "" ×8 + 2.70sINFOobjective_server_node ×8 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889546 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889546 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.35sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 1 iterations (0.00369628 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.00sINFOros2_control_node[2026-09-17 07:27:30.593] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-09-17 07:27:30.593] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.518573 ms (missed cycles : 7). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.518573 ms (missed cycles : 7).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018555 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018555 ms (missed cycles : 2).[0m ×2 + 10.31sINFOros2_control_node[2026-09-17 07:27:32.895] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-09-17 07:27:32.895] [info] Accepted new action goal ×2 + 10.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376247 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376247 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.97sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 13.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.63sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.76sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 16.39sWARNros2_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 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 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 5.802819 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789630101.83323193 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.79sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.79sINFOobjective_server_nodecaller: ×6 + 2.79sINFOobjective_server_nodetype: 0 ×6 + 2.79sINFOobjective_server_nodename: "" ×6 + 2.79sINFOobjective_server_nodeinstance_id: "" ×6 + 2.79sINFOobjective_server_node ×6 + 2.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789630102.48946595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789630102.55958605 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.64sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[0m ×2 + 7.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.23sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.37sINFOobjective_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 + 7.38sINFOobjective_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 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.70sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 8.40sWARNros2_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 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 673 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.32sINFOcomponent_container_mt[2026-09-17 07:26:55.909] [moveit_pro_license] [info] ×2 + 0.32sINFOcomponent_container_mt************************************************* ×4 + 0.32sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.32sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.43sWARNobjective_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 + 0.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.71sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.71sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.71sWARNros2_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 + 0.71sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.71sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.71sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.71sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.71sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.71sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.71sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.71sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.71sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.71sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.71sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.71sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.71sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.71sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.71sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.71sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.89sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.89sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.91sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231645 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231645 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2-4process has finished cleanly [pid 7228] ×2 + 1.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.35sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 1.35sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.35sWARNros2_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 + 1.35sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.38sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 1.38sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.67sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.69sINFOros2-8process has finished cleanly [pid 7232] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.78sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.80sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.80sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 1.80sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.12sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.12sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.12sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.12sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.13sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.16sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.16sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.16sINFOros2-6process has finished cleanly [pid 7230] ×2 + 2.16sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.16sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.16sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 2.17sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.51sINFOros2-3process has finished cleanly [pid 7227] ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.53sINFOobjective_server_nodecaller: ×14 + 2.53sINFOobjective_server_nodetype: 0 ×14 + 2.53sINFOobjective_server_nodename: "" ×14 + 2.53sINFOobjective_server_nodeinstance_id: "" ×14 + 2.53sINFOobjective_server_node ×14 + 2.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.86sINFOros2-5process has finished cleanly [pid 7229] ×2 + 2.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.88sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.88sINFOforce_torque_sensor_broadcasterconfigure successful + 2.88sINFOros2_control_nodeconfigure successful[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.99sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.22sINFOros2-2process has finished cleanly [pid 7226] ×2 + 3.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 3.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 3.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.33sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 3.33sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 3.68sINFOros2-7process has finished cleanly [pid 7231] ×2 + 4.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 5.04sWARNros2_control_nodeCamera render tick took 1.92 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 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 6.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 6.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 7.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sINFOobjective_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 + 7.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.75sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 7.75sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6).[0m ×2 + 0.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789630282.68196034 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.37sINFOobjective_server_nodecaller: ×8 + 3.37sINFOobjective_server_nodetype: 0 ×8 + 3.37sINFOobjective_server_nodename: "" ×8 + 3.37sINFOobjective_server_nodeinstance_id: "" ×8 + 3.37sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_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 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 5.10sWARNros2_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 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789630286.56869817 seconds ×3 + 6.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789630101.83323193 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789630102.48946595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789630102.55958605 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.65sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:27:32.895] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:27:32.895] [info] Accepted new action goal ×2 + 0.03sWARNros2_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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376247 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376247 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.45sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 6.08sWARNros2_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 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 0.74sINFOobjective_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 + 0.74sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 0.74sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789630282.68196034 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.29sINFOobjective_server_nodecaller: ×8 + 1.29sINFOobjective_server_nodetype: 0 ×8 + 1.29sINFOobjective_server_nodename: "" ×8 + 1.29sINFOobjective_server_nodeinstance_id: "" ×8 + 1.29sINFOobjective_server_node ×8 + 1.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 3.03sWARNros2_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789630286.56869817 seconds ×3 + 4.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349105 ms (missed cycles : 6). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349105 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_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: 1789630270.18366051 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 7.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ 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 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 572 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7228] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 7232] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.33sINFOros2-3process has finished cleanly [pid 7227] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.35sINFOobjective_server_nodecaller: ×14 + 1.35sINFOobjective_server_nodetype: 0 ×14 + 1.35sINFOobjective_server_nodename: "" ×14 + 1.35sINFOobjective_server_nodeinstance_id: "" ×14 + 1.35sINFOobjective_server_node ×14 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.69sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sINFOros2-2process has finished cleanly [pid 7226] ×2 + 2.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 2.15sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 2.49sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.86sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1789630270.18366051 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3).[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 5.554213 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 1.78sINFOobjective_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 + 1.78sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 1.79sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 1.79sERRORobjective_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: 1789630282.68196034 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.33sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.33sINFOobjective_server_nodecaller: ×8 + 2.33sINFOobjective_server_nodetype: 0 ×8 + 2.33sINFOobjective_server_nodename: "" ×8 + 2.33sINFOobjective_server_nodeinstance_id: "" ×8 + 2.33sINFOobjective_server_node ×8 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.73sINFOobjective_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 + 3.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 4.07sWARNros2_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 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674077 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789630286.56869817 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896515 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990425 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789630044.68379807 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432640 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789630045.35239649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789630045.43254113 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209050 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789630046.07117295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-17 07:27:26.285] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817491 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484989 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762724 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043955 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-17 07:27:34.558] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449282 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789630055.86536026 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789630056.48270345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037890 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789630056.57282257 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789630057.22129607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-17 07:27:37.345] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352666 ms (missed cycles : 2).[0m ×2 + 4.78sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176593 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.607422 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212971 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-17 07:27:45.393] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910121 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757240 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 07:27:47.733] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-17 07:27:47.781] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1789630067.79612803 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859117 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789630068.43180346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 07:27:48.639] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675149 ms (missed cycles : 6).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274285 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046281 ms (missed cycles : 8).[0m ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.13sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00319653 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.52sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-17 07:28:07.312] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-17 07:28:07.744] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708871 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094179 ms (missed cycles : 4).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[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 + 2.89sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.89sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.92sERRORobjective_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: 1789630089.70957232 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894235 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789630090.50990272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-17 07:28:10.744] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986375 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953775 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544020 ms (missed cycles : 3).[0m ×2 + 6.48sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-17 07:28:13.271] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211046 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802819 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145567 ms (missed cycles : 5).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789630101.83323193 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914513 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789630102.48946595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789630102.55958605 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868803 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.65sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789630103.16503382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-17 07:28:23.288] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395419 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789630105.29516053 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325960 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473433 ms (missed cycles : 4).[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: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789630106.93676043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 07:28:27.343] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 4.94sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408930 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389471 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804989 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091278 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.301510 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789630159.91640306 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771516 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789630160.52001333 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 (3.26e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.62sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-17 07:29:20.683] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648809 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_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 + 4.89sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474855 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139583 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 · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379014 ms (missed cycles : 3).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287753 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696836 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789630226.50603485 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789630227.23011303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325904 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 07:30:27.434] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642635 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940881 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 07:30:34.459] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238420 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212269 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 07:30:36.094] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509606 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789630237.39031148 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789630238.36451721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 07:30:38.548] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112721 ms (missed cycles : 5).[0m ×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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178237 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213097 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 2.352649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352649 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582401 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502366 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781235 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1789630248.68506289 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789630249.28234744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 07:30:49.637] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294450 ms (missed cycles : 5).[0m ×2 + 4.41sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857633 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976981 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNros2_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364907 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313918 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250196 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789630259.23817229 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599083 ms (missed cycles : 6).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789630259.89337730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.02sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-17 07:31:00.031] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877394 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244131 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_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: 1789630270.18366051 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_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: 1789630270.18366051 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_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: 1789630270.18366051 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748421 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_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: 1789630270.18366051 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1789630270.18366051 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1789630270.18366051 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225848 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439794 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sERRORobjective_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: 1789630270.18366051 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945209 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789630270.80481791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789630270.87495232 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658279 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789630271.46584606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789630271.48821902 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789630272.17543840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-17 07:31:12.319] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311867 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565126 ms (missed cycles : 6).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793915 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6).[0m ×2 + 0.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789630282.68196034 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.37sINFOobjective_server_nodecaller: ×8 + 3.37sINFOobjective_server_nodetype: 0 ×8 + 3.37sINFOobjective_server_nodename: "" ×8 + 3.37sINFOobjective_server_nodeinstance_id: "" ×8 + 3.37sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_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 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 5.10sWARNros2_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 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180372 ms (missed cycles : 6).[0m ×2 + 0.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554213 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702084 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-17 07:31:22.675] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789630282.68196034 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407553 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.37sINFOobjective_server_nodecaller: ×8 + 3.37sINFOobjective_server_nodetype: 0 ×8 + 3.37sINFOobjective_server_nodename: "" ×8 + 3.37sINFOobjective_server_nodeinstance_id: "" ×8 + 3.37sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789630283.27956057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789630284.01970029 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.928864 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789630284.61567116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_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 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789630284.61812019 seconds ×3 + 5.10sWARNros2_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 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789630285.28569579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789630285.30646086 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821423 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789630285.90857816 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 | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [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 | 6.7s | 39 warnings · 730 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/2026-09-17-07-26-51-463450-5dbce6f31465-7177 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_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. + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726932 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7225] ×2 + 0.83sINFOmove_group-9process started with pid [7244] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7247] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7263] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7265] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7266] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7267] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7268] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7269] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7270] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7271] ×2 + 0.83sINFOweb_bridge-19process started with pid [7272] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7349] ×2 + 0.83sINFOvideo_server-21process started with pid [7351] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7352] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7353] ×2 + 0.83sINFOros2-2process started with pid [7226] ×2 + 0.83sINFOros2-3process started with pid [7227] ×2 + 0.83sINFOros2-4process started with pid [7228] ×2 + 0.83sINFOros2-5process started with pid [7229] ×2 + 0.83sINFOros2-6process started with pid [7230] ×2 + 0.84sINFOros2-7process started with pid [7231] ×2 + 0.84sINFOros2-8process started with pid [7232] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726932 ms (missed cycles : 2).[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOvideo_server2026/09/17 07:26:52 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.05sINFOvideo_server2026/09/17 07:26:52 INF configuration loaded from /tmp/moveit-webrtc-k4ailcb0/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/17 07:26:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/17 07:26:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.64sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.68sINFOmove_group[2026-09-17 07:26:53.517] [moveit_pro_license] [info] ×2 + 1.68sINFOmove_group************************************************* ×4 + 1.68sINFOmove_group* MoveIt Pro License ×2 + 1.68sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-17 07:26:54.050] [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 + 2.27sINFOmove_group ×4 + 2.27sINFOmove_group[92mYou can start planning now![0m ×2 + 2.29sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.49sINFOros2_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 + 2.49sINFOros2_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 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617997 ms (missed cycles : 6). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617997 ms (missed cycles : 6).[0m ×2 + 3.17sINFOobjective_server_node[2026-09-17 07:26:55.003] [moveit_pro_license] [info] ×2 + 3.17sINFOobjective_server_node************************************************* ×4 + 3.17sINFOobjective_server_node* MoveIt Pro License ×2 + 3.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.07sINFOcomponent_container_mt[2026-09-17 07:26:55.909] [moveit_pro_license] [info] ×2 + 4.07sINFOcomponent_container_mt************************************************* ×4 + 4.07sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.07sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.18sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.47sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.47sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.47sWARNros2_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 + 4.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.47sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.47sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.47sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.47sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.47sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.47sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.47sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.47sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.47sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.47sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.47sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.47sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.47sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.47sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.47sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 4.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 4.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.67sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.67sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.68sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231645 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231645 ms (missed cycles : 2).[0m ×2 + 4.95sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.99sINFOros2-4process has finished cleanly [pid 7228] ×2 + 5.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 5.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 5.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 5.11sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.11sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.14sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 5.14sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.45sINFOros2-8process has finished cleanly [pid 7232] ×2 + 5.50sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 5.50sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 5.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.53sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.53sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.56sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.56sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 5.56sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.88sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 5.88sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 5.89sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.91sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.91sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.92sINFOros2-6process has finished cleanly [pid 7230] ×2 + 5.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 5.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 6.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 6.27sINFOros2-3process has finished cleanly [pid 7227] ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.29sINFOobjective_server_nodecaller: ×10 + 6.29sINFOobjective_server_nodetype: 0 ×10 + 6.29sINFOobjective_server_nodename: "" ×10 + 6.29sINFOobjective_server_nodeinstance_id: "" ×10 + 6.29sINFOobjective_server_node ×10 + 6.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.30sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.30sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.30sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.31sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.31sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.32sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.60sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 6.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 6.62sINFOros2-5process has finished cleanly [pid 7229] ×2 + 6.63sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.64sINFOforce_torque_sensor_broadcasterconfigure successful + 6.64sINFOros2_control_nodeconfigure successful[0m ×2 + 6.64sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.64sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.65sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.91sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.98sINFOros2-2process has finished cleanly [pid 7226] ×2 + 7.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 7.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 7.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.07sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.09sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 7.09sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 7.44sINFOros2-7process has finished cleanly [pid 7231] ×2 + 7.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 8.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 8.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 8.80sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 9.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 10.07sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 484 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7229] ×2 + 0.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.34sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.35sINFOforce_torque_sensor_broadcasterconfigure successful + 0.35sINFOros2_control_nodeconfigure successful[0m ×2 + 0.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.67sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.69sINFOros2-2process has finished cleanly [pid 7226] ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 1.15sINFOros2-7process has finished cleanly [pid 7231] ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 2.51sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.22sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.72sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 516 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.25sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.25sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.25sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.25sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.26sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.26sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.29sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.65sINFOros2-3process has finished cleanly [pid 7227] ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.99sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.02sINFOforce_torque_sensor_broadcasterconfigure successful + 1.02sINFOros2_control_nodeconfigure successful[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sINFOros2-2process has finished cleanly [pid 7226] ×2 + 1.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.47sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 1.81sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_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: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 4.45sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.89sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 182 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/2026-09-17-07-26-51-463450-5dbce6f31465-7177 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_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. + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726932 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7225] ×2 + 0.83sINFOmove_group-9process started with pid [7244] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7247] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7263] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7265] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7266] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7267] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7268] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7269] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7270] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7271] ×2 + 0.83sINFOweb_bridge-19process started with pid [7272] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7349] ×2 + 0.83sINFOvideo_server-21process started with pid [7351] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7352] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7353] ×2 + 0.83sINFOros2-2process started with pid [7226] ×2 + 0.83sINFOros2-3process started with pid [7227] ×2 + 0.83sINFOros2-4process started with pid [7228] ×2 + 0.83sINFOros2-5process started with pid [7229] ×2 + 0.83sINFOros2-6process started with pid [7230] ×2 + 0.84sINFOros2-7process started with pid [7231] ×2 + 0.84sINFOros2-8process started with pid [7232] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726932 ms (missed cycles : 2).[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOvideo_server2026/09/17 07:26:52 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.05sINFOvideo_server2026/09/17 07:26:52 INF configuration loaded from /tmp/moveit-webrtc-k4ailcb0/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/17 07:26:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/17 07:26:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.64sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.68sINFOmove_group[2026-09-17 07:26:53.517] [moveit_pro_license] [info] ×2 + 1.68sINFOmove_group************************************************* ×4 + 1.68sINFOmove_group* MoveIt Pro License ×2 + 1.68sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-17 07:26:54.050] [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 + 2.27sINFOmove_group ×4 + 2.27sINFOmove_group[92mYou can start planning now![0m ×2 + 2.29sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.49sINFOros2_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 + 2.49sINFOros2_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 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617997 ms (missed cycles : 6). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617997 ms (missed cycles : 6).[0m ×2 + 3.17sINFOobjective_server_node[2026-09-17 07:26:55.003] [moveit_pro_license] [info] ×2 + 3.17sINFOobjective_server_node************************************************* ×4 + 3.17sINFOobjective_server_node* MoveIt Pro License ×2 + 3.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 572 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7228] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 7232] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.33sINFOros2-3process has finished cleanly [pid 7227] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.35sINFOobjective_server_nodecaller: ×14 + 1.35sINFOobjective_server_nodetype: 0 ×14 + 1.35sINFOobjective_server_nodename: "" ×14 + 1.35sINFOobjective_server_nodeinstance_id: "" ×14 + 1.35sINFOobjective_server_node ×14 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.69sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sINFOros2-2process has finished cleanly [pid 7226] ×2 + 2.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 2.15sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 2.49sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.86sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 572 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7228] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 7232] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.33sINFOros2-3process has finished cleanly [pid 7227] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.35sINFOobjective_server_nodecaller: ×14 + 1.35sINFOobjective_server_nodetype: 0 ×14 + 1.35sINFOobjective_server_nodename: "" ×14 + 1.35sINFOobjective_server_nodeinstance_id: "" ×14 + 1.35sINFOobjective_server_node ×14 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.69sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sINFOros2-2process has finished cleanly [pid 7226] ×2 + 2.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 2.15sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 2.49sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.86sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 572 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7228] ×2 + 0.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.972] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-17 07:26:56.973] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 7232] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-17 07:26:57.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-17 07:26:57.392] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-17 07:26:57.398] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.33sINFOros2-3process has finished cleanly [pid 7227] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.35sINFOobjective_server_nodecaller: ×14 + 1.35sINFOobjective_server_nodetype: 0 ×14 + 1.35sINFOobjective_server_nodename: "" ×14 + 1.35sINFOobjective_server_nodeinstance_id: "" ×14 + 1.35sINFOobjective_server_node ×14 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.69sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sINFOros2-2process has finished cleanly [pid 7226] ×2 + 2.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 2.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 2.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 2.15sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 2.49sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.86sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 516 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.25sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.25sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.25sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.25sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.25sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.26sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.26sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.29sINFOros2-6process has finished cleanly [pid 7230] ×2 + 0.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702173 ms (missed cycles : 3).[0m ×2 + 0.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.65sINFOros2-3process has finished cleanly [pid 7227] ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.99sINFOros2-5process has finished cleanly [pid 7229] ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.02sINFOforce_torque_sensor_broadcasterconfigure successful + 1.02sINFOros2_control_nodeconfigure successful[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sINFOros2-2process has finished cleanly [pid 7226] ×2 + 1.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 1.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 1.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.47sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 1.81sINFOros2-7process has finished cleanly [pid 7231] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_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: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 4.45sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.89sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 470 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789630018.19560885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789630018.20579982 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7229] ×2 + 0.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.34sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.35sINFOforce_torque_sensor_broadcasterconfigure successful + 0.35sINFOros2_control_nodeconfigure successful[0m ×2 + 0.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.67sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789630018.80840206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOros2-2process has finished cleanly [pid 7226] ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 1.15sINFOros2-7process has finished cleanly [pid 7231] ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 2.51sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.22sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [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 | 0.7s | 25 warnings · 339 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 + 7.46sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [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 | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 337 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_18p7mayj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ghbjz5ys --params-file /tmp/launch_params_nmg1qn8e [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.927] [info] Controller state will be published at 10 Hz. ×2 + 0.06sINFOros2_control_node[2026-09-17 07:26:58.928] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711179 ms (missed cycles : 3).[0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 7231] ×2 + 0.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789630019.71856236 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.41sINFOobjective_server_nodecaller: ×10 + 1.41sINFOobjective_server_nodetype: 0 ×10 + 1.41sINFOobjective_server_nodename: "" ×10 + 1.41sINFOobjective_server_nodeinstance_id: "" ×10 + 1.41sINFOobjective_server_node ×10 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219246 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789630020.33344340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789630020.39359975 seconds ×3 + 1.77sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789630021.05307484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789630021.07319379 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083015 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789630021.66495991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789630021.81546950 seconds ×3 + 3.04sWARNros2_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 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775093 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789630022.54370499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789630022.60382318 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789630023.20701313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.0999e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-17 07:27:03.344] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631732 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539801 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735615 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-09-17 07:27:05.852] [info] Accepted new action goal ×2 | ||||