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 · 22464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046755 ms (missed cycles : 5).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789752742.90256882 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOobjective_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: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789752743.50289011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.52sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_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 + 4.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845396 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845396 ms (missed cycles : 2).[0m ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal ×3700 + 6.79sINFOjoint_trajectory_controllerAccepted new action goal ×3700 + 6.79sINFOros2_control_nodeReceived new action goal[0m ×7400 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×7400 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319947 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319947 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910478 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910478 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671753 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671753 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893470 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893470 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705650 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705650 ms (missed cycles : 2).[0m ×2 + 11.88sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.88sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857104 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857104 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733869 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733869 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845196 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845196 ms (missed cycles : 2).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231864 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231864 ms (missed cycles : 4).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278025 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278025 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787922 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787922 ms (missed cycles : 2).[0m ×2 + 18.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903018 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903018 ms (missed cycles : 2).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031413 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031413 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939263 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939263 ms (missed cycles : 2).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736308 ms (missed cycles : 6). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736308 ms (missed cycles : 6).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076587 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076587 ms (missed cycles : 2).[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732678 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732678 ms (missed cycles : 2).[0m ×2 + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668998 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668998 ms (missed cycles : 2).[0m ×2 + 25.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×4 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737405 ms (missed cycles : 2). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737405 ms (missed cycles : 2).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622691 ms (missed cycles : 3). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622691 ms (missed cycles : 3).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855303 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855303 ms (missed cycles : 2).[0m ×2 + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690880 ms (missed cycles : 2). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690880 ms (missed cycles : 2).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739846 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739846 ms (missed cycles : 2).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279104 ms (missed cycles : 5). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279104 ms (missed cycles : 5).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981829 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981829 ms (missed cycles : 2).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034131 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034131 ms (missed cycles : 2).[0m ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780813 ms (missed cycles : 2). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780813 ms (missed cycles : 2).[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808823 ms (missed cycles : 2). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808823 ms (missed cycles : 2).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904379 ms (missed cycles : 2). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904379 ms (missed cycles : 2).[0m ×2 + 37.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854816 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854816 ms (missed cycles : 2).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083479 ms (missed cycles : 4). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083479 ms (missed cycles : 4).[0m ×2 + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751760 ms (missed cycles : 3). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751760 ms (missed cycles : 3).[0m ×2 + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404300 ms (missed cycles : 2). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404300 ms (missed cycles : 2).[0m ×2 + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248387 ms (missed cycles : 2). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248387 ms (missed cycles : 2).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448458 ms (missed cycles : 2). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448458 ms (missed cycles : 2).[0m ×2 + 43.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885977 ms (missed cycles : 5). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885977 ms (missed cycles : 5).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641477 ms (missed cycles : 5). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641477 ms (missed cycles : 5).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728165 ms (missed cycles : 4). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728165 ms (missed cycles : 4).[0m ×2 + 47.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752787.40834689 seconds ×3 + 47.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052665 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052665 ms (missed cycles : 2).[0m ×2 + 47.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789752788.05126333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.05sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 48.06sINFOros2_control_node[2026-09-18 17:33:08.204] [info] Received new action goal ×2 + 48.06sINFOros2_control_node[2026-09-18 17:33:08.204] [info] Accepted new action goal ×2 + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155702 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155702 ms (missed cycles : 2).[0m ×2 + 48.97sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 49.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979428 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979428 ms (missed cycles : 2).[0m ×2 + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287152 ms (missed cycles : 2). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287152 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 153 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-18 17:31:32.604] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-18 17:31:32.604] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672286 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672286 ms (missed cycles : 5).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428235 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428235 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918565 ms (missed cycles : 5). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918565 ms (missed cycles : 5).[0m ×2 + 9.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.23sINFOros2_control_node[2026-09-18 17:31:35.754] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-09-18 17:31:35.754] [info] Accepted new action goal ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238024 ms (missed cycles : 5). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238024 ms (missed cycles : 5).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230297 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230297 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920450 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920450 ms (missed cycles : 2).[0m ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.25sINFOros2_control_node[2026-09-18 17:31:38.776] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-09-18 17:31:38.776] [info] Accepted new action goal ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898347 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898347 ms (missed cycles : 3).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929636 ms (missed cycles : 3). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929636 ms (missed cycles : 3).[0m ×2 + 15.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×6 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601854 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601854 ms (missed cycles : 3).[0m ×2 + 16.22sINFOobjective_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 + 16.22sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.22sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.22sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.22sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532636 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532636 ms (missed cycles : 3).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473842 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473842 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516682 ms (missed cycles : 5). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516682 ms (missed cycles : 5).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445926 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445926 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976898 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976898 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.996664 ms (missed cycles : 7). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.996664 ms (missed cycles : 7).[0m ×2 + 23.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.01sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.01sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.01sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614712 ms (missed cycles : 4). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614712 ms (missed cycles : 4).[0m ×2 + 23.90sINFOros2_control_node[2026-09-18 17:31:49.424] [info] Received new action goal ×2 + 23.90sINFOros2_control_node[2026-09-18 17:31:49.424] [info] Accepted new action goal ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085259 ms (missed cycles : 4). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085259 ms (missed cycles : 4).[0m ×2 + 25.06sINFOobjective_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 + 25.07sINFOobjective_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 + 25.35sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 25.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689861 ms (missed cycles : 2). + 25.39sINFOros2_control_node[2026-09-18 17:31:50.915] [info] Received new action goal ×2 + 25.39sINFOros2_control_node[2026-09-18 17:31:50.915] [info] Accepted new action goal ×2 + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689861 ms (missed cycles : 2).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214682 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214682 ms (missed cycles : 3).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583735 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583735 ms (missed cycles : 3).[0m ×2 + 27.53sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 27.54sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.55sINFOros2_control_node[2026-09-18 17:31:53.071] [info] Received new action goal ×2 + 27.55sINFOros2_control_node[2026-09-18 17:31:53.071] [info] Accepted new action goal ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287290 ms (missed cycles : 7). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287290 ms (missed cycles : 7).[0m ×2 + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536745 ms (missed cycles : 6). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536745 ms (missed cycles : 6).[0m ×2 + 30.59sINFOros2_control_node[2026-09-18 17:31:56.110] [info] Received new action goal ×2 + 30.59sINFOros2_control_node[2026-09-18 17:31:56.110] [info] Accepted new action goal ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178013 ms (missed cycles : 3). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178013 ms (missed cycles : 3).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595870 ms (missed cycles : 3). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595870 ms (missed cycles : 3).[0m ×2 + 32.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228524 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228524 ms (missed cycles : 3).[0m ×2 + 33.18sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 33.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.23sINFOros2_control_node[2026-09-18 17:31:58.753] [info] Received new action goal ×2 + 33.23sINFOros2_control_node[2026-09-18 17:31:58.754] [info] Accepted new action goal ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816607 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816607 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421716 ms (missed cycles : 3). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421716 ms (missed cycles : 3).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640134 ms (missed cycles : 4). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640134 ms (missed cycles : 4).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781747 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781747 ms (missed cycles : 3).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256326 ms (missed cycles : 5). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256326 ms (missed cycles : 5).[0m ×2 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064379 ms (missed cycles : 4). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064379 ms (missed cycles : 4).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511685 ms (missed cycles : 4). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511685 ms (missed cycles : 4).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021867 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021867 ms (missed cycles : 2).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575737 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575737 ms (missed cycles : 2).[0m ×2 + 43.59sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546797 ms (missed cycles : 2). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546797 ms (missed cycles : 2).[0m ×2 + 44.56sINFOros2_control_node[2026-09-18 17:32:10.079] [info] Received new action goal ×2 + 44.56sINFOros2_control_node[2026-09-18 17:32:10.079] [info] Accepted new action goal ×2 + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859224 ms (missed cycles : 2). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859224 ms (missed cycles : 2).[0m ×2 + 45.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789752731.25630784 seconds ×3 + 46.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.32sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789752732.05691171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3).[0m ×2 + 47.56sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 47.58sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.59sINFOros2_control_node[2026-09-18 17:32:13.111] [info] Received new action goal ×2 + 47.59sINFOros2_control_node[2026-09-18 17:32:13.111] [info] Accepted new action goal ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.893171 ms (missed cycles : 6). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.893171 ms (missed cycles : 6).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746198 ms (missed cycles : 2). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746198 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 | 89 warnings · 15162 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2494 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2494 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4988 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4988 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885977 ms (missed cycles : 5). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885977 ms (missed cycles : 5).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641477 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641477 ms (missed cycles : 5).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728165 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728165 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.25sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752787.40834689 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052665 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789752788.05126333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOros2_control_node[2026-09-18 17:33:08.204] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:33:08.204] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155702 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155702 ms (missed cycles : 2).[0m ×2 + 4.96sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.29sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979428 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979428 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287152 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287152 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985914 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985914 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617399 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617399 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865125 ms (missed cycles : 5). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865125 ms (missed cycles : 5).[0m ×2 + 10.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×4 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651313 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651313 ms (missed cycles : 3).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713196 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713196 ms (missed cycles : 2).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976113 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976113 ms (missed cycles : 2).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984911 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984911 ms (missed cycles : 2).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025109 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025109 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125170 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125170 ms (missed cycles : 2).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171761 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171761 ms (missed cycles : 2).[0m ×2 + 17.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676214 ms (missed cycles : 2). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676214 ms (missed cycles : 2).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775554 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775554 ms (missed cycles : 2).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650141 ms (missed cycles : 3). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650141 ms (missed cycles : 3).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985372 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985372 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 25.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 25.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.27sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 26.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.28sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 241 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5).[0m ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00335597 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.61sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Accepted new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5).[0m ×2 + 2.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_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 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1789752672.16922140 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.76sINFOobjective_server_nodecaller: ×6 + 3.76sINFOobjective_server_nodetype: 0 ×6 + 3.76sINFOobjective_server_nodename: "" ×6 + 3.76sINFOobjective_server_nodeinstance_id: "" ×6 + 3.76sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789752672.98584008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3).[0m ×2 + 6.57sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809960 ms (missed cycles : 4). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809960 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666900 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666900 ms (missed cycles : 3).[0m ×2 + 9.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695579 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695579 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815916 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815916 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036234 ms (missed cycles : 6). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036234 ms (missed cycles : 6).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789752684.24794197 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.75sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789752684.91582417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789752684.98595548 seconds ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7).[0m ×2 + 16.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 16.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.58sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 16.58sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 18.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575737 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.69sINFOobjective_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 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.69sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.69sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.69sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.69sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546797 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546797 ms (missed cycles : 2).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-18 17:32:10.079] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-18 17:32:10.079] [info] Accepted new action goal ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859224 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859224 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789752731.25630784 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789752732.05691171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.64sINFOros2_control_node[2026-09-18 17:32:13.111] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-18 17:32:13.111] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.893171 ms (missed cycles : 6). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.893171 ms (missed cycles : 6).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746198 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746198 ms (missed cycles : 2).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952324 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952324 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274813 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274813 ms (missed cycles : 2).[0m ×2 + 8.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012567 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012567 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.673893 ms (missed cycles : 8). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.673893 ms (missed cycles : 8).[0m ×2 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.81sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.83sINFOros2_control_node[2026-09-18 17:32:19.297] [info] Received new action goal ×2 + 10.83sINFOros2_control_node[2026-09-18 17:32:19.297] [info] Accepted new action goal ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046755 ms (missed cycles : 5). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046755 ms (missed cycles : 5).[0m ×2 + 12.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3).[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789752742.90256882 seconds ×3 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789752743.50289011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.20sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3).[0m ×2 + 16.47sINFOobjective_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 + 16.47sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2).[0m ×2 + 17.43sWARNros2_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 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845396 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 61 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 0.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 0.44sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 0.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752865.17919350 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.98sINFOobjective_server_nodecaller: ×8 + 0.98sINFOobjective_server_nodetype: 0 ×8 + 0.98sINFOobjective_server_nodename: "" ×8 + 0.98sINFOobjective_server_nodeinstance_id: "" ×8 + 0.98sINFOobjective_server_node ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.56sINFOobjective_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 + 2.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789752869.99821067 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120425 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120425 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121047 ms (missed cycles : 7). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121047 ms (missed cycles : 7).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634205 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634205 ms (missed cycles : 3).[0m ×2 + 9.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212051 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212051 ms (missed cycles : 3).[0m ×2 + 10.81sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.83sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.83sERRORweb_video_auth_proxy-23process has died [pid 7350, 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 + 10.83sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.83sERRORweb_bridge_auth_proxy-22process has died [pid 7349, 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 + 10.84sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.84sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.84sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.85sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.85sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.86sINFOvideo_server-21process has finished cleanly [pid 7348] ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976479 ms (missed cycles : 2). + 10.86sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.86sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.87sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.87sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.88sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.88sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.89sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.89sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.89sINFOcontroller_managerShutdown request received.... + 10.89sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.89sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.89sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.89sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.89sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.89sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.90sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.90sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.90sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.90sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.90sINFOvideo_server2026/09/18 17:34:35 INF shutting down gracefully ×2 + 10.90sINFOvideo_server2026/09/18 17:34:35 INF [WebRTC] closing ×2 + 10.90sINFOvideo_server2026/09/18 17:34:35 INF [RTSP] closing ×2 + 10.90sINFOcontroller_managerShutting down the controller manager. + 10.90sINFOvideo_server2026/09/18 17:34:35 INF waiting for running hooks ×2 + 10.90sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976479 ms (missed cycles : 2).[0m ×2 + 10.90sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.90sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.90sERRORmove_groupStack trace (most recent call last) in thread 7698: ×2 + 10.90sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.90sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.90sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.90sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.90sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15fb742a63, in __clone ×2 + 10.90sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.90sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.90sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15fb6b5aa3, in ×2 + 10.90sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15fb947db3, in ×2 + 10.90sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.90sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f15fc0abb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.90sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15fbcd9620, in rclcpp::Rate::sleep() ×2 + 10.90sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15fbc1bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.90sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15fbbdd087, in ×2 + 10.90sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15fb916390, in __cxa_throw ×2 + 10.90sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15fb900a54, in std::terminate() ×2 + 10.90sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15fb9160d9, in ×2 + 10.91sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15fb900ff4, in ×2 + 10.91sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15fb6418fe, in abort ×2 + 10.91sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15fb65e27d, in raise ×2 + 10.91sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15fb6b7b2c, in pthread_kill ×2 + 10.91sERRORmove_groupAborted (Signal sent by tkill() 7259 0) ×2 + 10.91sERRORmove_group-9process has died [pid 7259, 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_g_w0sx9d --params-file /tmp/launch_params_ceh9kh26 --params-file /tmp/launch_params_v4k92cfh --params-file /tmp/launch_params_086hkd10 --params-file /tmp/launch_params_3p252iwa --params-file /tmp/launch_params_hz25kkso']. ×2 + 11.07sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.07sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.07sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.89sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7347] ×2 + 11.89sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.91sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7263] ×2 + 11.92sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7262] ×2 + 11.95sINFOwaypoint_manager_node-11process has finished cleanly [pid 7261] ×2 + 11.96sINFOparameter_manager_node-10process has finished cleanly [pid 7260] ×2 + 11.97sINFOexecute_objective_bridge-17process has finished cleanly [pid 7267] ×2 + 11.97sINFOui_teleop_bridge-18process has finished cleanly [pid 7268] ×2 + 12.01sINFOcomponent_container_mt-16process has finished cleanly [pid 7266] ×2 + 12.05sINFOobjective_server_node[0;m[2026-09-18 17:34:36.786] [moveit_pro_license] [info] ×2 + 12.05sINFOobjective_server_node************************************************* ×4 + 12.05sINFOobjective_server_node* MoveIt Pro License ×2 + 12.05sINFOobjective_server_node* Application has successfully terminated ×2 + 12.18sINFOobjective_server_node_main-14process has finished cleanly [pid 7264] ×2 + 12.18sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.05sINFOcomponent_container_mt-15process has finished cleanly [pid 7265] ×2 + 13.14sINFOweb_bridge-19process has finished cleanly [pid 7269] ×2 + 13.14sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.50sINFOros2_control_node-1process has finished cleanly [pid 7222] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 54 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982318 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982318 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850043 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850043 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 2.11sINFOros2_control_node[2026-09-18 17:30:16.193] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-09-18 17:30:16.193] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764147 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764147 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 2.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.59sINFOros2_control_node[2026-09-18 17:30:16.669] [info] Got request to cancel active goal. ×2 + 2.59sINFOros2_control_node[2026-09-18 17:30:16.669] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1789752616.68480158 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.14sINFOobjective_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: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789752617.29384637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351578 ms (missed cycles : 4). + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351578 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.43sINFOros2_control_node[2026-09-18 17:30:17.508] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-18 17:30:17.508] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795236 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795236 ms (missed cycles : 2).[0m ×2 + 5.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.70sINFOros2_control_node[2026-09-18 17:30:19.778] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-09-18 17:30:19.778] [info] Accepted new action goal ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174722 ms (missed cycles : 5). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174722 ms (missed cycles : 5).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747566 ms (missed cycles : 5). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747566 ms (missed cycles : 5).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067335 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067335 ms (missed cycles : 5).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682611 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682611 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153528 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153528 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 11.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.51sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 11.92sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 12.17sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 12.17sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 13.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 13.69sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 13.69sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 13.71sERRORobjective_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: 1789752627.78899360 seconds ×3 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 15.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.32sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231964 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231964 ms (missed cycles : 4).[0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 5 iterations (0.00553887 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.50sINFOros2_control_node[2026-09-18 17:30:55.664] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-09-18 17:30:55.664] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459289 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459289 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860390 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860390 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731072 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731072 ms (missed cycles : 5).[0m ×2 + 10.77sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.02sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.02sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.03sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789752658.22011566 seconds ×3 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185109 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185109 ms (missed cycles : 4).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676149 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676149 ms (missed cycles : 3).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212513 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212513 ms (missed cycles : 4).[0m ×2 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789752661.88551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586253 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586253 ms (missed cycles : 3).[0m ×2 + 14.92sINFOros2_control_node[2026-09-18 17:31:02.079] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-09-18 17:31:02.079] [info] Accepted new action goal ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891844 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891844 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804902 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804902 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 54 warnings · 2472 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107731 ms (missed cycles : 7). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107731 ms (missed cycles : 7).[0m ×2 + 7.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766861 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766861 ms (missed cycles : 2).[0m ×2 + 8.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 1 iterations (0.0029226 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.86sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.88sINFOros2_control_node[2026-09-18 17:33:35.165] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-09-18 17:33:35.165] [info] Accepted new action goal ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246172 ms (missed cycles : 5). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246172 ms (missed cycles : 5).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762684 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762684 ms (missed cycles : 2).[0m ×2 + 11.18sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 11.18sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 12.20sWARNros2_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 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 12.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.81sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 14.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 14.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 15.27sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 17.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5).[0m ×2 + 0.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789752842.17904091 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.17sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.17sINFOobjective_server_nodecaller: ×8 + 3.17sINFOobjective_server_nodetype: 0 ×8 + 3.17sINFOobjective_server_nodename: "" ×8 + 3.17sINFOobjective_server_nodeinstance_id: "" ×8 + 3.17sINFOobjective_server_node ×8 + 3.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789752842.85509300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.38sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389470 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389470 ms (missed cycles : 2).[0m ×2 + 6.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.142933 ms (missed cycles : 5). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.142933 ms (missed cycles : 5).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837888 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837888 ms (missed cycles : 4).[0m ×2 + 9.53sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836677 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836677 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 12.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 13.57sINFOobjective_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 + 13.57sERRORobjective_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: 1789752853.16536927 seconds ×3 + 14.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 14.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 15.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.48sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 15.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.66sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773639 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773639 ms (missed cycles : 3).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824543 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824543 ms (missed cycles : 3).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723693 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723693 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647019 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647019 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3).[0m ×2 + 14.20sINFOobjective_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 + 14.20sERRORobjective_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: 1789752831.67137289 seconds ×3 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2).[0m ×2 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789752832.26816201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.11sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 209 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789752658.22011566 seconds ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185109 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185109 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676149 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676149 ms (missed cycles : 3).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212513 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212513 ms (missed cycles : 4).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789752661.88551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586253 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586253 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:31:02.079] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:31:02.079] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891844 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891844 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804902 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804902 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545521 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545521 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 5 iterations (0.00549091 s). ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085171 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085171 ms (missed cycles : 2).[0m ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.68sINFOros2_control_node[2026-09-18 17:31:06.865] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-09-18 17:31:06.865] [info] Accepted new action goal ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686513 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686513 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672376 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672376 ms (missed cycles : 3).[0m ×2 + 10.94sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 11.33sINFOobjective_server_nodeFound path in 1 iterations (0.00335597 s). ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.54sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Received new action goal ×2 + 11.54sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Accepted new action goal ×2 + 11.97sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Accepted new action goal ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.98sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.99sERRORobjective_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: 1789752672.16922140 seconds ×3 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2).[0m ×2 + 14.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789752672.98584008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.00sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3).[0m ×2 + 17.50sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Received new action goal ×2 + 17.50sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.80sINFOobjective_server_nodecaller: ×6 + 2.80sINFOobjective_server_nodetype: 0 ×6 + 2.80sINFOobjective_server_nodename: "" ×6 + 2.80sINFOobjective_server_nodeinstance_id: "" ×6 + 2.80sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.06sINFOros2_control_node[2026-09-18 17:30:43.488] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-18 17:30:43.488] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519939 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519939 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178595 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178595 ms (missed cycles : 2).[0m ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 9.40sINFOros2_control_node[2026-09-18 17:30:45.826] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-09-18 17:30:45.826] [info] Accepted new action goal ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070333 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070333 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 11.75sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 13.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.73sINFOobjective_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 + 13.74sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 13.74sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 13.75sERRORobjective_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: 1789752650.17692757 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 14.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.59sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 14.59sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.60sINFOobjective_server_nodecaller: ×12 + 0.60sINFOobjective_server_nodetype: 0 ×12 + 0.60sINFOobjective_server_nodename: "" ×12 + 0.60sINFOobjective_server_nodeinstance_id: "" ×12 + 0.60sINFOobjective_server_node ×12 + 0.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.06sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.15sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427333 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427333 ms (missed cycles : 4).[0m ×2 + 7.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807641 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807641 ms (missed cycles : 3).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109632 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109632 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 9.80sINFOros2_control_node[2026-09-18 17:30:12.853] [info] Received new action goal ×2 + 9.80sINFOros2_control_node[2026-09-18 17:30:12.853] [info] Accepted new action goal ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723075 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723075 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982318 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982318 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850043 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850043 ms (missed cycles : 2).[0m ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 13.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.14sINFOros2_control_node[2026-09-18 17:30:16.193] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-09-18 17:30:16.193] [info] Accepted new action goal ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764147 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764147 ms (missed cycles : 2).[0m ×2 + 13.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.62sINFOros2_control_node[2026-09-18 17:30:16.669] [info] Got request to cancel active goal. ×2 + 13.62sINFOros2_control_node[2026-09-18 17:30:16.669] [info] Canceling active goal... ×2 + 13.63sERRORobjective_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: 1789752616.68480158 seconds ×3 + 13.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.17sINFOobjective_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: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789752617.29384637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351578 ms (missed cycles : 4). + 14.45sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351578 ms (missed cycles : 4).[0m ×2 + 14.46sINFOros2_control_node[2026-09-18 17:30:17.508] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-09-18 17:30:17.508] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795236 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795236 ms (missed cycles : 2).[0m ×2 + 16.71sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 16.72sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.73sINFOros2_control_node[2026-09-18 17:30:19.778] [info] Received new action goal ×2 + 16.73sINFOros2_control_node[2026-09-18 17:30:19.778] [info] Accepted new action goal ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174722 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174722 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 59 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.54sERRORobjective_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: 1789752853.16536927 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.11sINFOobjective_server_nodecaller: ×14 + 2.11sINFOobjective_server_nodetype: 0 ×14 + 2.11sINFOobjective_server_nodename: "" ×14 + 2.11sINFOobjective_server_nodeinstance_id: "" ×14 + 2.11sINFOobjective_server_node ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_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 + 2.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961125 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961125 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.96sINFOros2_control_node[2026-09-18 17:34:18.578] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-09-18 17:34:18.578] [info] Accepted new action goal ×2 + 6.96sINFOros2_control_node[2026-09-18 17:34:18.578] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841965 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841965 ms (missed cycles : 3).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914733 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914733 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399750 ms (missed cycles : 4). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399750 ms (missed cycles : 4).[0m ×2 + 10.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 13.55sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 13.55sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752865.17919350 seconds ×3 + 14.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.10sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 15.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.68sINFOobjective_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 + 15.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 16.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.27sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 16.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.88sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 16.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_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 + 2.92sERRORobjective_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: 1789752831.67137289 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789752832.26816201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681102 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681102 ms (missed cycles : 2).[0m ×2 + 7.85sINFOros2_control_node[2026-09-18 17:33:56.593] [info] Received new action goal ×2 + 7.85sINFOros2_control_node[2026-09-18 17:33:56.593] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956109 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956109 ms (missed cycles : 5).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829411 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829411 ms (missed cycles : 3).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5).[0m ×2 + 11.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3).[0m ×2 + 13.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789752842.17904091 seconds ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.01sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789752842.85509300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 14.22sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.23sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Received new action goal ×2 + 14.23sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3).[0m ×2 + 16.14sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.1s | 3 errors · 54 warnings · 301 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 + 7.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 1 iterations (0.00342757 s). ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375438 ms (missed cycles : 4). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375438 ms (missed cycles : 4).[0m ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.96sINFOros2_control_node[2026-09-18 17:30:33.455] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-09-18 17:30:33.455] [info] Accepted new action goal ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780865 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780865 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381995 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381995 ms (missed cycles : 4).[0m ×2 + 10.26sINFOros2_control_node[2026-09-18 17:30:35.757] [info] Received new action goal ×2 + 10.26sINFOros2_control_node[2026-09-18 17:30:35.757] [info] Accepted new action goal ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 11.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.89sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 13.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 13.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 13.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.72sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.62sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[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 1.696269 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789752684.24794197 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.86sINFOobjective_server_nodecaller: ×6 + 2.86sINFOobjective_server_nodetype: 0 ×6 + 2.86sINFOobjective_server_nodename: "" ×6 + 2.86sINFOobjective_server_nodeinstance_id: "" ×6 + 2.86sINFOobjective_server_node ×6 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789752684.91582417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789752684.98595548 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 7.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.26sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.33sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.41sINFOobjective_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 + 7.42sINFOobjective_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 + 7.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.73sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1789752865.17919350 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.20sINFOobjective_server_nodecaller: ×8 + 3.20sINFOobjective_server_nodetype: 0 ×8 + 3.20sINFOobjective_server_nodename: "" ×8 + 3.20sINFOobjective_server_nodeinstance_id: "" ×8 + 3.20sINFOobjective_server_node ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.78sINFOobjective_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 + 4.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 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 + 5.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789752869.99821067 seconds ×3 + 7.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 33 warnings · 711 info |
+ 0.00sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.00sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.34sINFOcomponent_container_mt[2026-09-18 17:29:59.003] [moveit_pro_license] [info] ×2 + 0.34sINFOcomponent_container_mt************************************************* ×4 + 0.34sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.34sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.42sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.43sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.43sWARNros2_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 + 0.43sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.43sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.43sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.43sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.43sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.43sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.43sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.43sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.65sINFOros2_control_node[2026-09-18 17:29:59.315] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.65sINFOros2_control_node[2026-09-18 17:29:59.315] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.68sINFOros2_control_node[2026-09-18 17:29:59.346] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.68sINFOros2_control_node[2026-09-18 17:29:59.346] [info] Controller state will be published at 50 Hz. ×2 + 0.69sINFOros2_control_node[2026-09-18 17:29:59.353] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973856 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973856 ms (missed cycles : 2).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.94sINFOros2_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 + 0.94sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.94sWARNros2_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 + 0.96sINFOros2-6process has finished cleanly [pid 7227] ×2 + 1.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-09-18 17:29:59.744] [info] Controller state will be published at 20 Hz. ×2 + 1.08sINFOros2_control_node[2026-09-18 17:29:59.744] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.43sINFOros2-8process has finished cleanly [pid 7229] ×2 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.80sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.96sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.10sINFOros2-5process has finished cleanly [pid 7226] ×2 + 2.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 2.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 2.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.22sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 2.22sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.54sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.54sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.54sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.54sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.55sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 2.55sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 2.56sINFOros2-7process has finished cleanly [pid 7228] ×2 + 2.58sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.58sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.59sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.84sINFOobjective_server_nodecaller: ×14 + 2.84sINFOobjective_server_nodetype: 0 ×14 + 2.84sINFOobjective_server_nodename: "" ×14 + 2.84sINFOobjective_server_nodeinstance_id: "" ×14 + 2.84sINFOobjective_server_node ×14 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 2.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 2.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 2.94sINFOros2-4process has finished cleanly [pid 7225] ×2 + 2.95sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.95sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.95sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.96sINFOforce_torque_sensor_broadcasterconfigure successful + 2.96sINFOros2_control_nodeconfigure successful[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.97sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.97sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.30sINFOros2-2process has finished cleanly [pid 7223] ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 4.39sWARNros2_control_nodeCamera render tick took 1.74 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 + 4.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 7.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 7.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_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 + 7.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.03sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789752684.24794197 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789752684.91582417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789752684.98595548 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:30:35.757] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:30:35.757] [info] Accepted new action goal ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOforce_torque_sensor_broadcasterconfigure successful + 1.23sINFOros2_control_nodeconfigure successful[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.57sINFOros2-2process has finished cleanly [pid 7223] ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[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 4.047657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 0.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 0.44sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 0.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752865.17919350 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.98sINFOobjective_server_nodecaller: ×8 + 0.98sINFOobjective_server_nodetype: 0 ×8 + 0.98sINFOobjective_server_nodename: "" ×8 + 0.98sINFOobjective_server_nodeinstance_id: "" ×8 + 0.98sINFOobjective_server_node ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.56sINFOobjective_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 + 2.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789752869.99821067 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120425 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120425 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 1.52sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 1.52sERRORobjective_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: 1789752865.17919350 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.06sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.06sINFOobjective_server_nodecaller: ×8 + 2.06sINFOobjective_server_nodetype: 0 ×8 + 2.06sINFOobjective_server_nodename: "" ×8 + 2.06sINFOobjective_server_nodeinstance_id: "" ×8 + 2.06sINFOobjective_server_node ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.64sINFOobjective_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 + 3.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740657 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789752869.99821067 seconds ×3 + 6.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.1s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059690 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.09sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.51sINFOobjective_server_nodeFound path in 1 iterations (0.00266723 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-18 17:30:26.247] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938942 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781771 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 17:30:27.767] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789752627.78899360 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789752628.48155069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789752628.58166528 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908759 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789752629.20809078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:30:29.402] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144951 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139797 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659728 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.446420 ms (missed cycles : 7).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:30:37.391] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570057 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789752638.68824458 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434234 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789752639.31366992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789752639.36379457 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689817 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789752640.00457835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:30:40.118] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957699 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893112 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476019 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366339 ms (missed cycles : 3).[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-18 17:30:48.176] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727127 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394381 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-18 17:30:50.164] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789752650.17692757 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477532 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789752650.80792475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-18 17:30:51.022] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518933 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084619 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 103 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844455 ms (missed cycles : 5).[0m ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00335597 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.61sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 17:31:09.721] [info] Accepted new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 17:31:10.153] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743269 ms (missed cycles : 5).[0m ×2 + 2.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_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 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1789752672.16922140 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180645 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789752672.98584008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-18 17:31:13.179] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053337 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617949 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608659 ms (missed cycles : 3).[0m ×2 + 6.57sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 17:31:15.682] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696269 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833325 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119546 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789752684.24794197 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789752684.91582417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789752684.98595548 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746986 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789752685.57797241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-18 17:31:25.691] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668995 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073165 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789752687.69810677 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027276 ms (missed cycles : 6).[0m ×2 + 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 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789752689.32933259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865851 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 17:31:29.736] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892853 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806467 ms (missed cycles : 2).[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 7.046755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046755 ms (missed cycles : 5).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708007 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468795 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789752742.90256882 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOobjective_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: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789752743.50289011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700594 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.52sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-18 17:32:23.667] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841639 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_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 + 4.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772421 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845396 ms (missed cycles : 2). | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×379 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×758 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333354 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771619 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332844 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789752809.53761363 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299752 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789752810.23784852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:33:30.442] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720647 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:33:37.467] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986226 ms (missed cycles : 3).[0m ×2 + 1.01sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822073 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-18 17:33:39.091] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085632 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789752820.38801646 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519201 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789752821.35093927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:33:41.554] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091810 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461484 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089881 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467591 ms (missed cycles : 4).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745310 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_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 + 2.92sERRORobjective_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: 1789752831.67137289 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 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694819 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789752832.26816201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:33:52.580] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940631 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634040 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246737 ms (missed cycles : 5).[0m ×2 + 0.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830828 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841745 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789752842.17904091 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947560 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789752842.85509300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.38sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-18 17:34:02.979] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991012 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713543 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453006 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sERRORobjective_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: 1789752853.16536927 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_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 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.54sERRORobjective_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: 1789752853.16536927 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.11sINFOobjective_server_nodecaller: ×6 + 2.11sINFOobjective_server_nodetype: 0 ×6 + 2.11sINFOobjective_server_nodename: "" ×6 + 2.11sINFOobjective_server_nodeinstance_id: "" ×6 + 2.11sINFOobjective_server_node ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_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 + 2.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.54sERRORobjective_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: 1789752853.16536927 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.11sINFOobjective_server_nodecaller: ×6 + 2.11sINFOobjective_server_nodetype: 0 ×6 + 2.11sINFOobjective_server_nodename: "" ×6 + 2.11sINFOobjective_server_nodeinstance_id: "" ×6 + 2.11sINFOobjective_server_node ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_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 + 2.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819920 ms (missed cycles : 3).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980367 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.54sERRORobjective_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: 1789752853.16536927 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.11sINFOobjective_server_nodecaller: ×6 + 2.11sINFOobjective_server_nodetype: 0 ×6 + 2.11sINFOobjective_server_nodename: "" ×6 + 2.11sINFOobjective_server_nodeinstance_id: "" ×6 + 2.11sINFOobjective_server_node ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487187 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789752853.78450537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789752853.86463022 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789752854.45512795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_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 + 2.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789752854.47741461 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667442 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789752855.12388086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 17:34:15.257] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285107 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267325 ms (missed cycles : 2).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1789752865.17919350 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.20sINFOobjective_server_nodecaller: ×8 + 3.20sINFOobjective_server_nodetype: 0 ×8 + 3.20sINFOobjective_server_nodename: "" ×8 + 3.20sINFOobjective_server_nodeinstance_id: "" ×8 + 3.20sINFOobjective_server_node ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.78sINFOobjective_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 + 4.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 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 + 5.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104796 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158472 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047657 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-18 17:34:25.174] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1789752865.17919350 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.20sINFOobjective_server_nodecaller: ×8 + 3.20sINFOobjective_server_nodetype: 0 ×8 + 3.20sINFOobjective_server_nodename: "" ×8 + 3.20sINFOobjective_server_nodeinstance_id: "" ×8 + 3.20sINFOobjective_server_node ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707543 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789752865.77948761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789752866.70961761 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.654988 ms (missed cycles : 7).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789752867.29741359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.78sINFOobjective_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 + 4.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789752867.29937434 seconds ×3 + 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 + 5.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789752867.93932652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789752867.94991946 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995929 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789752868.55390739 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 · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [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 | 6.9s | 39 warnings · 751 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/2026-09-18-17-29-54-730474-8034c41fc743-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174109 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7222] ×2 + 0.83sINFOmove_group-9process started with pid [7259] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7260] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7261] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7262] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7263] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7264] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7265] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7266] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7267] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7268] ×2 + 0.83sINFOweb_bridge-19process started with pid [7269] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7347] ×2 + 0.83sINFOvideo_server-21process started with pid [7348] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7349] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7350] ×2 + 0.84sINFOros2-2process started with pid [7223] ×2 + 0.84sINFOros2-3process started with pid [7224] ×2 + 0.84sINFOros2-4process started with pid [7225] ×2 + 0.84sINFOros2-5process started with pid [7226] ×2 + 0.84sINFOros2-6process started with pid [7227] ×2 + 0.84sINFOros2-7process started with pid [7228] ×2 + 0.84sINFOros2-8process started with pid [7229] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174109 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF configuration loaded from /tmp/moveit-webrtc-rl2orffb/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.59sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.82sINFOmove_group[2026-09-18 17:29:56.915] [moveit_pro_license] [info] ×2 + 1.82sINFOmove_group************************************************* ×4 + 1.82sINFOmove_group* MoveIt Pro License ×2 + 1.82sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.98sINFOros2_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 + 1.98sINFOros2_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 + 2.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956543 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956543 ms (missed cycles : 2).[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 2.39sINFOwaypoint_manager_node[2026-09-18 17:29:57.486] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.45sINFOobjective_server_node[2026-09-18 17:29:58.544] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.57sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.91sINFOcomponent_container_mt[2026-09-18 17:29:59.003] [moveit_pro_license] [info] ×2 + 3.91sINFOcomponent_container_mt************************************************* ×4 + 3.91sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.91sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.94sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.95sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.99sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.99sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.00sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.10sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.10sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.10sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 4.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 4.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.22sINFOros2_control_node[2026-09-18 17:29:59.315] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.22sINFOros2_control_node[2026-09-18 17:29:59.315] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.25sINFOros2_control_node[2026-09-18 17:29:59.346] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.25sINFOros2_control_node[2026-09-18 17:29:59.346] [info] Controller state will be published at 50 Hz. ×2 + 4.26sINFOros2_control_node[2026-09-18 17:29:59.353] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973856 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973856 ms (missed cycles : 2).[0m ×2 + 4.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.50sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.51sINFOros2_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 + 4.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.51sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.53sINFOros2-6process has finished cleanly [pid 7227] ×2 + 4.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 4.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 4.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.65sINFOros2_control_node[2026-09-18 17:29:59.744] [info] Controller state will be published at 20 Hz. ×2 + 4.65sINFOros2_control_node[2026-09-18 17:29:59.744] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.94sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.94sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.94sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.94sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 4.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 4.95sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.98sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.98sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.00sINFOros2-8process has finished cleanly [pid 7229] ×2 + 5.00sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 5.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 5.35sINFOros2-3process has finished cleanly [pid 7224] ×2 + 5.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.37sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.37sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.38sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.53sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.67sINFOros2-5process has finished cleanly [pid 7226] ×2 + 5.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 5.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 5.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.75sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.75sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.75sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.75sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.78sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 5.79sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 6.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 6.13sINFOros2-7process has finished cleanly [pid 7228] ×2 + 6.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.15sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.15sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.15sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.15sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.16sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.41sINFOobjective_server_nodecaller: ×10 + 6.41sINFOobjective_server_nodetype: 0 ×10 + 6.41sINFOobjective_server_nodename: "" ×10 + 6.41sINFOobjective_server_nodeinstance_id: "" ×10 + 6.41sINFOobjective_server_node ×10 + 6.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 6.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 6.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 6.50sINFOros2-4process has finished cleanly [pid 7225] ×2 + 6.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.53sINFOforce_torque_sensor_broadcasterconfigure successful + 6.53sINFOros2_control_nodeconfigure successful[0m ×2 + 6.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.54sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.87sINFOros2-2process has finished cleanly [pid 7223] ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 7.96sWARNros2_control_nodeCamera render tick took 1.74 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 + 7.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 9.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 9.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 409 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 0.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2-4process has finished cleanly [pid 7225] ×2 + 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 ] ×7 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close 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: "Close 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 1.49sWARNros2_control_nodeCamera render tick took 1.74 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 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_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 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.13sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.55sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.64sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 483 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.04sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.37sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.40sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.40sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.41sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 0.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.75sINFOros2-4process has finished cleanly [pid 7225] ×2 + 0.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.77sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.78sINFOforce_torque_sensor_broadcasterconfigure successful + 0.78sINFOros2_control_nodeconfigure successful[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.78sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.12sINFOros2-2process has finished cleanly [pid 7223] ×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 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 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/2026-09-18-17-29-54-730474-8034c41fc743-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174109 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7222] ×2 + 0.83sINFOmove_group-9process started with pid [7259] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7260] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7261] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7262] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7263] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7264] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7265] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7266] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7267] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7268] ×2 + 0.83sINFOweb_bridge-19process started with pid [7269] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7347] ×2 + 0.83sINFOvideo_server-21process started with pid [7348] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7349] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7350] ×2 + 0.84sINFOros2-2process started with pid [7223] ×2 + 0.84sINFOros2-3process started with pid [7224] ×2 + 0.84sINFOros2-4process started with pid [7225] ×2 + 0.84sINFOros2-5process started with pid [7226] ×2 + 0.84sINFOros2-6process started with pid [7227] ×2 + 0.84sINFOros2-7process started with pid [7228] ×2 + 0.84sINFOros2-8process started with pid [7229] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174109 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF configuration loaded from /tmp/moveit-webrtc-rl2orffb/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/18 17:29:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.59sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.82sINFOmove_group[2026-09-18 17:29:56.915] [moveit_pro_license] [info] ×2 + 1.82sINFOmove_group************************************************* ×4 + 1.82sINFOmove_group* MoveIt Pro License ×2 + 1.82sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.98sINFOros2_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 + 1.98sINFOros2_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 + 2.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956543 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956543 ms (missed cycles : 2).[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 2.39sINFOwaypoint_manager_node[2026-09-18 17:29:57.486] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.45sINFOobjective_server_node[2026-09-18 17:29:58.544] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.57sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOforce_torque_sensor_broadcasterconfigure successful + 1.23sINFOros2_control_nodeconfigure successful[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.57sINFOros2-2process has finished cleanly [pid 7223] ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOforce_torque_sensor_broadcasterconfigure successful + 1.23sINFOros2_control_nodeconfigure successful[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.57sINFOros2-2process has finished cleanly [pid 7223] ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.05sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOforce_torque_sensor_broadcasterconfigure successful + 1.23sINFOros2_control_nodeconfigure successful[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.57sINFOros2-2process has finished cleanly [pid 7223] ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 483 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-18 17:30:00.878] [info] Controller state will be published at 10 Hz. ×2 + 0.04sINFOros2_control_node[2026-09-18 17:30:00.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.37sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.40sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.40sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.41sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 0.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.75sINFOros2-4process has finished cleanly [pid 7225] ×2 + 0.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.77sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.78sINFOforce_torque_sensor_broadcasterconfigure successful + 0.78sINFOros2_control_nodeconfigure successful[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.78sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.12sINFOros2-2process has finished cleanly [pid 7223] ×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 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 393 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789752601.56562853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789752601.57582664 seconds ×3 + 0.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mys27rb7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2xhra23_ --params-file /tmp/launch_params_6pflwww2 [0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2-4process has finished cleanly [pid 7225] ×2 + 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 ] ×7 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close 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: "Close 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789752602.17728162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 1.49sWARNros2_control_nodeCamera render tick took 1.74 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 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_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 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.13sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [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 · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [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 · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620273 ms (missed cycles : 3).[0m ×2 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789752603.08742332 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321445 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789752603.70223165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789752603.76237011 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789752604.41894507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789752604.43906307 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305039 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789752605.02817845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789752605.17873263 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811808 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789752605.89434886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789752605.96446586 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789752606.56905985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422653 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.3108e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-18 17:30:06.695] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082328 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216642 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.78sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-18 17:30:09.203] [info] Accepted new action goal ×2 | ||||