117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass55 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 156 warnings · 34248 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787325126.44772005 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787325127.04713321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.35sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.62sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×5670 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×5670 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×11340 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×11340 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368512 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368512 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846343 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846343 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310493 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310493 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150231 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150231 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003177 ms (missed cycles : 4). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003177 ms (missed cycles : 4).[0m ×2 + 12.67sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.67sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.67sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.68sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455158 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455158 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228560 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228560 ms (missed cycles : 3).[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100707 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100707 ms (missed cycles : 2).[0m ×2 + 15.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382396 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382396 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823179 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823179 ms (missed cycles : 2).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824054 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824054 ms (missed cycles : 4).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033759 ms (missed cycles : 5). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033759 ms (missed cycles : 5).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115145 ms (missed cycles : 4). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115145 ms (missed cycles : 4).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105447 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105447 ms (missed cycles : 3).[0m ×2 + 22.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363132 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363132 ms (missed cycles : 3).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917739 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917739 ms (missed cycles : 2).[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670474 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670474 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984063 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984063 ms (missed cycles : 3).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671438 ms (missed cycles : 4). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671438 ms (missed cycles : 4).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074701 ms (missed cycles : 4). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074701 ms (missed cycles : 4).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297496 ms (missed cycles : 4). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297496 ms (missed cycles : 4).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899640 ms (missed cycles : 2). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899640 ms (missed cycles : 2).[0m ×2 + 30.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536857 ms (missed cycles : 3). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536857 ms (missed cycles : 3).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428341 ms (missed cycles : 4). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428341 ms (missed cycles : 4).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922229 ms (missed cycles : 3). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922229 ms (missed cycles : 3).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033313 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033313 ms (missed cycles : 3).[0m ×2 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645065 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645065 ms (missed cycles : 3).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291062 ms (missed cycles : 4). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291062 ms (missed cycles : 4).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287797 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287797 ms (missed cycles : 2).[0m ×2 + 38.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373434 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373434 ms (missed cycles : 2).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800768 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800768 ms (missed cycles : 2).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801087 ms (missed cycles : 2). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801087 ms (missed cycles : 2).[0m ×2 + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639893 ms (missed cycles : 4). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639893 ms (missed cycles : 4).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682137 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682137 ms (missed cycles : 2).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410140 ms (missed cycles : 3). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410140 ms (missed cycles : 3).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192700 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192700 ms (missed cycles : 2).[0m ×2 + 45.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382611 ms (missed cycles : 4). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382611 ms (missed cycles : 4).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887503 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887503 ms (missed cycles : 3).[0m ×2 + 47.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325170.81831956 seconds ×3 + 47.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745147 ms (missed cycles : 4). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745147 ms (missed cycles : 4).[0m ×2 + 48.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787325171.43605542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.72sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 48.73sINFOros2_control_node[2026-08-21 15:12:51.569] [info] Received new action goal ×2 + 48.73sINFOros2_control_node[2026-08-21 15:12:51.569] [info] Accepted new action goal ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605847 ms (missed cycles : 3). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605847 ms (missed cycles : 3).[0m ×2 + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629238 ms (missed cycles : 6). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629238 ms (missed cycles : 6).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580902 ms (missed cycles : 3). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580902 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 153 warnings · 299 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633685 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633685 ms (missed cycles : 3).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.93sINFOros2_control_node[2026-08-21 15:11:16.885] [info] Received new action goal ×2 + 6.93sINFOros2_control_node[2026-08-21 15:11:16.885] [info] Accepted new action goal ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896968 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896968 ms (missed cycles : 3).[0m ×2 + 8.77sWARNros2_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 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960417 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960417 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516483 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516483 ms (missed cycles : 2).[0m ×2 + 10.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.10sINFOros2_control_node[2026-08-21 15:11:20.055] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-08-21 15:11:20.055] [info] Accepted new action goal ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674454 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674454 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386865 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386865 ms (missed cycles : 3).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214024 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214024 ms (missed cycles : 2).[0m ×2 + 13.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 13.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.10sINFOros2_control_node[2026-08-21 15:11:23.057] [info] Received new action goal ×2 + 13.10sINFOros2_control_node[2026-08-21 15:11:23.057] [info] Accepted new action goal ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652130 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652130 ms (missed cycles : 3).[0m ×2 + 14.74sWARNros2_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 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898348 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898348 ms (missed cycles : 2).[0m ×2 + 16.05sINFOobjective_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 + 16.05sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.06sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.06sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378914 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378914 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299656 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299656 ms (missed cycles : 2).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148184 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148184 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346697 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346697 ms (missed cycles : 2).[0m ×2 + 19.82sWARNros2_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 ×6 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876586 ms (missed cycles : 3). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876586 ms (missed cycles : 3).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006488 ms (missed cycles : 4). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006488 ms (missed cycles : 4).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062911 ms (missed cycles : 4). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062911 ms (missed cycles : 4).[0m ×2 + 22.82sINFOobjective_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 + 22.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.82sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.82sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.82sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039508 ms (missed cycles : 4). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039508 ms (missed cycles : 4).[0m ×2 + 23.77sINFOros2_control_node[2026-08-21 15:11:33.725] [info] Received new action goal ×2 + 23.77sINFOros2_control_node[2026-08-21 15:11:33.725] [info] Accepted new action goal ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356794 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356794 ms (missed cycles : 3).[0m ×2 + 24.93sINFOobjective_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 + 24.94sINFOobjective_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 + 25.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 25.21sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.26sINFOros2_control_node[2026-08-21 15:11:35.217] [info] Received new action goal ×2 + 25.26sINFOros2_control_node[2026-08-21 15:11:35.217] [info] Accepted new action goal ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980476 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980476 ms (missed cycles : 3).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675225 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675225 ms (missed cycles : 2).[0m ×2 + 27.35sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 27.35sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.38sINFOros2_control_node[2026-08-21 15:11:37.339] [info] Received new action goal ×2 + 27.38sINFOros2_control_node[2026-08-21 15:11:37.339] [info] Accepted new action goal ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556355 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556355 ms (missed cycles : 3).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304095 ms (missed cycles : 4). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304095 ms (missed cycles : 4).[0m ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125310 ms (missed cycles : 4). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125310 ms (missed cycles : 4).[0m ×2 + 30.41sINFOros2_control_node[2026-08-21 15:11:40.365] [info] Received new action goal ×2 + 30.41sINFOros2_control_node[2026-08-21 15:11:40.365] [info] Accepted new action goal ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850940 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850940 ms (missed cycles : 2).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224119 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224119 ms (missed cycles : 2).[0m ×2 + 32.98sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.03sINFOros2_control_node[2026-08-21 15:11:42.987] [info] Received new action goal ×2 + 33.03sINFOros2_control_node[2026-08-21 15:11:42.987] [info] Accepted new action goal ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916920 ms (missed cycles : 2). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916920 ms (missed cycles : 2).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822301 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822301 ms (missed cycles : 3).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574430 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574430 ms (missed cycles : 2).[0m ×2 + 35.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618383 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618383 ms (missed cycles : 2).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086260 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086260 ms (missed cycles : 3).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121768 ms (missed cycles : 3). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121768 ms (missed cycles : 3).[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715434 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715434 ms (missed cycles : 2).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776101 ms (missed cycles : 4). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776101 ms (missed cycles : 4).[0m ×2 + 41.69sWARNros2_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 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024087 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024087 ms (missed cycles : 2).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430518 ms (missed cycles : 3). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430518 ms (missed cycles : 3).[0m ×2 + 43.70sINFOros2_control_node[2026-08-21 15:11:53.654] [info] Received new action goal ×2 + 43.70sINFOros2_control_node[2026-08-21 15:11:53.655] [info] Accepted new action goal ×2 + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602467 ms (missed cycles : 5). + 44.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602467 ms (missed cycles : 5).[0m ×2 + 44.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787325114.81161165 seconds ×3 + 44.91sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182620 ms (missed cycles : 4). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182620 ms (missed cycles : 4).[0m ×2 + 45.63sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787325115.58756208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035688 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035688 ms (missed cycles : 3).[0m ×2 + 46.77sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 46.78sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 46.79sINFOros2_control_node[2026-08-21 15:11:56.751] [info] Received new action goal ×2 + 46.79sINFOros2_control_node[2026-08-21 15:11:56.751] [info] Accepted new action goal ×2 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389331 ms (missed cycles : 3). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389331 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 26.9s | 103 warnings · 3685 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1158 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1158 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×578 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×578 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325192.89212012 seconds ×3 + 3.62sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.62sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5). + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5).[0m ×2 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787325193.51370025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 5 iterations (0.00426428 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019990 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019990 ms (missed cycles : 2).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692126 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692126 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762955 ms (missed cycles : 4). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762955 ms (missed cycles : 4).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805956 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805956 ms (missed cycles : 2).[0m ×2 + 11.51sWARNros2_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 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678498 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678498 ms (missed cycles : 2).[0m ×2 + 12.63sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840506 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840506 ms (missed cycles : 3).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943873 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943873 ms (missed cycles : 3).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.836673 ms (missed cycles : 7). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.836673 ms (missed cycles : 7).[0m ×2 + 16.43sINFOobjective_server_nodeFound path in 4 iterations (0.00278598 s). ×2 + 16.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 16.50sINFOobjective_server_nodeFound path in 13 iterations (0.00366364 s). ×2 + 16.53sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] ×2 + 16.56sINFOobjective_server_nodeFound path in 2 iterations (0.00333005 s). ×2 + 16.59sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 16.61sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 16.63sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 16.65sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 16.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 16.69sINFOobjective_server_nodeFound path in 12 iterations (0.00317888 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 16.75sINFOobjective_server_nodeFound path in 1 iterations (0.00272332 s). ×2 + 16.78sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 16.80sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 16.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 16.84sINFOobjective_server_nodeFound path in 4 iterations (0.00330747 s). ×2 + 16.89sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 16.92sINFOobjective_server_nodeFound path in 4 iterations (0.00281125 s). ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302058 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302058 ms (missed cycles : 2).[0m ×2 + 16.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 17.00sINFOobjective_server_nodeFound path in 1 iterations (0.00326679 s). ×2 + 17.03sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 17.06sINFOobjective_server_nodeFound path in 26 iterations (0.00820913 s). ×2 + 17.12sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_____________________X] ×2 + 17.14sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 17.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 17.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X] ×2 + 17.29sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 17.34sWARNros2_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 + 17.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 17.37sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 17.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 17.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 17.58sINFOros2_control_node[2026-08-21 15:13:26.860] [info] Received new action goal ×2 + 17.58sINFOros2_control_node[2026-08-21 15:13:26.860] [info] Accepted new action goal ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.377942 ms (missed cycles : 7). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.377942 ms (missed cycles : 7).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139857 ms (missed cycles : 6). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139857 ms (missed cycles : 6).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715267 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715267 ms (missed cycles : 2).[0m ×2 + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456155 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456155 ms (missed cycles : 2).[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092529 ms (missed cycles : 4). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092529 ms (missed cycles : 4).[0m ×2 + 22.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 22.58sINFOros2_control_node[2026-08-21 15:13:31.862] [info] Received new action goal ×2 + 22.58sINFOros2_control_node[2026-08-21 15:13:31.862] [info] Accepted new action goal ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752462 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752462 ms (missed cycles : 2).[0m ×2 + 24.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 24.13sINFOros2_control_node[2026-08-21 15:13:33.407] [info] Received new action goal ×2 + 24.13sINFOros2_control_node[2026-08-21 15:13:33.407] [info] Accepted new action goal ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527145 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527145 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 25.37sINFOros2_control_node[2026-08-21 15:13:34.648] [info] Received new action goal ×2 + 25.37sINFOros2_control_node[2026-08-21 15:13:34.648] [info] Accepted new action goal ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286924 ms (missed cycles : 2). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286924 ms (missed cycles : 2).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250080 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250080 ms (missed cycles : 3).[0m ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2).[0m ×2 + 28.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2).[0m ×2 + 30.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787325219.83388710 seconds ×3 + 30.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3).[0m ×2 + 31.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787325220.49129486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.42sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 31.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 31.43sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Received new action goal ×2 + 31.43sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Accepted new action goal ×2 + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3).[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 | 91 warnings · 21604 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3574 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×3574 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×7148 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×7148 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192700 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192700 ms (missed cycles : 2).[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382611 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382611 ms (missed cycles : 4).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887503 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887503 ms (missed cycles : 3).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.60sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.60sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325170.81831956 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745147 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745147 ms (missed cycles : 4).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787325171.43605542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-21 15:12:51.569] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-21 15:12:51.569] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605847 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605847 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.67sINFOobjective_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 + 5.68sINFOobjective_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 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629238 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629238 ms (missed cycles : 6).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580902 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580902 ms (missed cycles : 3).[0m ×2 + 7.67sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×4 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810597 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810597 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105440 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105440 ms (missed cycles : 2).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423177 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423177 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161337 ms (missed cycles : 3). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161337 ms (missed cycles : 3).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934399 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934399 ms (missed cycles : 2).[0m ×2 + 13.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290855 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290855 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845457 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845457 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902160 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902160 ms (missed cycles : 2).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640675 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640675 ms (missed cycles : 4).[0m ×2 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027825 ms (missed cycles : 2). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027825 ms (missed cycles : 2).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692889 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692889 ms (missed cycles : 3).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816837 ms (missed cycles : 4). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816837 ms (missed cycles : 4).[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2).[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3).[0m ×2 + 25.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325192.89212012 seconds ×3 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5).[0m ×2 + 26.30sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787325193.51370025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.45sINFOobjective_server_nodeFound path in 5 iterations (0.00426428 s). ×2 + 26.50sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.51sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Received new action goal ×2 + 26.51sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Accepted new action goal ×2 + 26.58sWARNros2_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 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2).[0m ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3).[0m ×2 + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.3s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 ×6 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787325002.83316040 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023750 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023750 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428064 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428064 ms (missed cycles : 5).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352246 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352246 ms (missed cycles : 4).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297916 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297916 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154153 ms (missed cycles : 5). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154153 ms (missed cycles : 5).[0m ×2 + 11.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.97sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.24sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 12.24sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 12.27sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.33sINFOobjective_server_nodeFound path in 1 iterations (0.00283181 s). ×2 + 12.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 12.49sINFOros2_control_node[2026-08-21 15:10:13.137] [info] Received new action goal ×2 + 12.49sINFOros2_control_node[2026-08-21 15:10:13.137] [info] Accepted new action goal ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756589 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756589 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993912 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993912 ms (missed cycles : 5).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595364 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595364 ms (missed cycles : 2).[0m ×2 + 14.96sINFOros2_control_node[2026-08-21 15:10:15.609] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-08-21 15:10:15.609] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 16.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 16.83sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 16.83sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 16.96sWARNros2_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 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 18.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 18.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.90sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 19.53sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 19.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 19.64sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 19.64sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 57 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00198456 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.20sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Accepted new action goal ×2 + 0.64sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3).[0m ×2 + 0.86sWARNros2_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 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2).[0m ×2 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.10sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Accepted new action goal ×2 + 3.38sINFOobjective_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 + 3.39sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Got request to cancel active goal. ×2 + 3.39sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Canceling active goal... ×2 + 3.40sERRORobjective_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: 1787325052.42054367 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787325053.05666208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3).[0m ×2 + 6.54sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Accepted new action goal ×2 + 6.86sWARNros2_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 ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415677 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415677 ms (missed cycles : 3).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877229 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877229 ms (missed cycles : 4).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665475 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665475 ms (missed cycles : 3).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701619 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701619 ms (missed cycles : 4).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654530 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654530 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4).[0m ×2 + 13.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787325064.13304996 seconds ×3 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3).[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787325064.80119109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787325064.88132572 seconds ×3 + 16.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.55sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.56sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 18.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 59 warnings · 214 info |
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024087 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024087 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430518 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430518 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-08-21 15:11:53.654] [info] Received new action goal ×2 + 2.01sINFOros2_control_node[2026-08-21 15:11:53.655] [info] Accepted new action goal ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602467 ms (missed cycles : 5). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602467 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787325114.81161165 seconds ×3 + 3.23sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182620 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182620 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787325115.58756208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035688 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035688 ms (missed cycles : 3).[0m ×2 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.11sINFOros2_control_node[2026-08-21 15:11:56.751] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-21 15:11:56.751] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389331 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389331 ms (missed cycles : 3).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559074 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559074 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622798 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622798 ms (missed cycles : 3).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089751 ms (missed cycles : 5). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089751 ms (missed cycles : 5).[0m ×2 + 8.80sINFOobjective_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 + 8.80sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203405 ms (missed cycles : 5). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203405 ms (missed cycles : 5).[0m ×2 + 10.20sWARNros2_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 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612688 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612688 ms (missed cycles : 2).[0m ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.20sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3).[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787325126.44772005 seconds ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2).[0m ×2 + 15.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787325127.04713321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 15.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.55sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Received new action goal ×2 + 15.55sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Accepted new action goal ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2).[0m ×2 + 16.23sWARNros2_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 + 16.81sINFOobjective_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 + 16.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3).[0m ×2 + 18.16sINFOjoint_trajectory_controllerReceived new action goal ×5 + 18.16sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 18.16sINFOros2_control_nodeReceived new action goal[0m ×10 + 18.16sINFOros2_control_nodeAccepted new action goal[0m ×10 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 61 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_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 + 0.53sINFOobjective_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 + 0.54sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 0.54sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 0.54sERRORobjective_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: 1787325275.81808043 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.19sINFOobjective_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 + 2.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325280.15052319 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069645 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069645 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349748 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349748 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490067 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490067 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904659 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904659 ms (missed cycles : 3).[0m ×2 + 10.41sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.44sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_video_auth_proxy-23process has died [pid 9034, 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 + 10.45sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.46sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.47sERRORweb_bridge_auth_proxy-22process has died [pid 9033, 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 + 10.47sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.48sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.48sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.49sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.50sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.51sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.52sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.53sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768602 ms (missed cycles : 2). + 10.54sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.55sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.56sINFOvideo_server-21process has finished cleanly [pid 9018] ×2 + 10.57sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.58sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.59sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.59sINFOcontroller_managerShutdown request received.... + 10.59sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.59sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.59sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.59sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.59sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.59sINFOvideo_server2026/08/21 15:14:45 INF shutting down gracefully ×2 + 10.59sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.59sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.59sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.59sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.59sINFOcontroller_managerShutting down the controller manager. + 10.59sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOvideo_server2026/08/21 15:14:45 INF [WebRTC] closing ×2 + 10.59sINFOvideo_server2026/08/21 15:14:45 INF [RTSP] closing ×2 + 10.59sINFOvideo_server2026/08/21 15:14:45 INF waiting for running hooks ×2 + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768602 ms (missed cycles : 2).[0m ×2 + 10.60sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.60sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.60sERRORmove_groupStack trace (most recent call last) in thread 9423: ×2 + 10.60sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.60sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.60sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2fed23a63, in __clone ×2 + 10.60sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2fec96aa3, in ×2 + 10.60sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2fef28db3, in ×2 + 10.60sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd2ff699637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.60sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd2ff2ba620, in rclcpp::Rate::sleep() ×2 + 10.60sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd2ff1fcd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.60sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd2ff1be087, in ×2 + 10.60sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2feef7390, in __cxa_throw ×2 + 10.60sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2feee1a54, in std::terminate() ×2 + 10.60sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2feef70d9, in ×2 + 10.60sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2feee1ff4, in ×2 + 10.60sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2fec228fe, in abort ×2 + 10.60sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2fec3f27d, in raise ×2 + 10.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.60sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.60sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.60sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.60sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2fec98b2c, in pthread_kill ×2 + 10.60sERRORmove_groupAborted (Signal sent by tkill() 8952 0) ×2 + 10.60sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.60sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.60sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.60sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.61sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.61sERRORmove_group-9process has died [pid 8952, 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_ip2sa0dp --params-file /tmp/launch_params_lx7r2lko --params-file /tmp/launch_params_t00qg1fy --params-file /tmp/launch_params_ib1su85a --params-file /tmp/launch_params_ns71xlhl --params-file /tmp/launch_params_rjpg06ij']. ×2 + 10.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.75sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.75sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.52sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9017] ×2 + 11.52sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.57sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8956] ×2 + 11.59sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8955] ×2 + 11.59sINFOexecute_objective_bridge-17process has finished cleanly [pid 8960] ×2 + 11.59sINFOui_teleop_bridge-18process has finished cleanly [pid 8961] ×2 + 11.60sINFOcomponent_container_mt-16process has finished cleanly [pid 8959] ×2 + 11.63sINFOwaypoint_manager_node-11process has finished cleanly [pid 8954] ×2 + 11.65sINFOparameter_manager_node-10process has finished cleanly [pid 8953] ×2 + 11.66sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.74sINFOobjective_server_node[0;m[2026-08-21 15:14:47.021] [moveit_pro_license] [info] ×2 + 11.74sINFOobjective_server_node************************************************* ×4 + 11.74sINFOobjective_server_node* MoveIt Pro License ×2 + 11.74sINFOobjective_server_node* Application has successfully terminated ×2 + 12.20sINFOobjective_server_node_main-14process has finished cleanly [pid 8957] ×2 + 12.20sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.71sINFOcomponent_container_mt-15process has finished cleanly [pid 8958] ×2 + 12.82sINFOweb_bridge-19process has finished cleanly [pid 8962] ×2 + 12.82sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.20sINFOros2_control_node-1process has finished cleanly [pid 8933] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 277 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947491 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947491 ms (missed cycles : 3).[0m ×2 + 7.10sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.10sINFOros2_control_node[2026-08-21 15:14:28.737] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-08-21 15:14:28.737] [info] Accepted new action goal ×2 + 7.10sINFOros2_control_node[2026-08-21 15:14:28.737] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602740 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602740 ms (missed cycles : 2).[0m ×2 + 8.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137778 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137778 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236158 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236158 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 14.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.18sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 14.18sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 14.18sERRORobjective_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: 1787325275.81808043 seconds ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.83sINFOobjective_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 + 15.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 17.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 62 warnings · 176 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787325037.89952302 seconds ×3 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183245 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183245 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093055 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093055 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_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 ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805572 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805572 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585808 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585808 ms (missed cycles : 4).[0m ×2 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787325041.90634251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-21 15:10:42.089] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-21 15:10:42.090] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985861 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985861 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582408 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582408 ms (missed cycles : 6).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855592 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855592 ms (missed cycles : 3).[0m ×2 + 6.88sWARNros2_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 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602802 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602802 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.73sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 1 iterations (0.00167298 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.00278063 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×6 + 8.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.48sINFOros2_control_node[2026-08-21 15:10:46.351] [info] Received new action goal ×2 + 8.48sINFOros2_control_node[2026-08-21 15:10:46.351] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088244 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088244 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309020 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309020 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045300 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045300 ms (missed cycles : 3).[0m ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 11.15sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 11.15sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.21sINFOobjective_server_nodeFound path in 1 iterations (0.00198456 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.35sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Accepted new action goal ×2 + 11.78sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Accepted new action goal ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3).[0m ×2 + 14.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.25sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Accepted new action goal ×2 + 14.53sINFOobjective_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 + 14.53sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Got request to cancel active goal. ×2 + 14.53sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Canceling active goal... ×2 + 14.55sERRORobjective_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: 1787325052.42054367 seconds ×3 + 15.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787325053.05666208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2).[0m ×2 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.35sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Accepted new action goal ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4).[0m ×2 + 17.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3).[0m ×2 + 17.69sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Received new action goal ×2 + 17.69sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Accepted new action goal ×2 + 18.01sWARNros2_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 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787325252.25960135 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787325252.84144115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894539 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894539 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288630 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288630 ms (missed cycles : 3).[0m ×2 + 8.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557982 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557982 ms (missed cycles : 3).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560712 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560712 ms (missed cycles : 3).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 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 + 13.98sERRORobjective_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: 1787325263.31177425 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 14.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 15.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 16.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.09sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 16.09sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 57 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 0.91sWARNros2_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 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.57sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.06sINFOros2_control_node[2026-08-21 15:09:54.992] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-21 15:09:54.992] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206822 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206822 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_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 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159564 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159564 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976224 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976224 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573044 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573044 ms (missed cycles : 2).[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.78sINFOros2_control_node[2026-08-21 15:09:58.722] [info] Received new action goal ×2 + 9.79sINFOros2_control_node[2026-08-21 15:09:58.722] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 12.77sWARNros2_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 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.09sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 13.10sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 13.87sINFOobjective_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 + 13.87sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 13.87sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 13.90sERRORobjective_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: 1787325002.83316040 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.42sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 15.42sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 103 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 + 7.42sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492201 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492201 ms (missed cycles : 3).[0m ×2 + 8.15sWARNros2_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 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408534 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408534 ms (missed cycles : 4).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102421 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102421 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3).[0m ×2 + 14.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sERRORobjective_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: 1787325241.81689382 seconds ×3 + 14.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787325242.42162848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787325219.83388710 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787325220.49129486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783892 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783892 ms (missed cycles : 4).[0m ×2 + 6.70sWARNros2_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 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474977 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474977 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.47sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (1.71e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 1 iterations (0.00283291 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 7.88sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.90sINFOros2_control_node[2026-08-21 15:13:44.987] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-08-21 15:13:44.987] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504848 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504848 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976766 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976766 ms (missed cycles : 4).[0m ×2 + 10.37sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 12.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.24sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 12.24sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 12.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 13.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 14.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.52sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 16.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 62 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.21sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496601 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496601 ms (missed cycles : 4).[0m ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.57sINFOobjective_server_nodeFound path in 1 iterations (0.00178537 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 1 iterations (0.00269071 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.96sINFOros2_control_node[2026-08-21 15:10:35.183] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-08-21 15:10:35.183] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727754 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727754 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108714 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108714 ms (missed cycles : 2).[0m ×2 + 10.38sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.65sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787325037.89952302 seconds ×3 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183245 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183245 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093055 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093055 ms (missed cycles : 2).[0m ×2 + 12.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805572 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805572 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585808 ms (missed cycles : 4). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585808 ms (missed cycles : 4).[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787325041.90634251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 14.87sINFOros2_control_node[2026-08-21 15:10:42.089] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-08-21 15:10:42.090] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985861 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985861 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582408 ms (missed cycles : 6). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582408 ms (missed cycles : 6).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855592 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855592 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 59 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.10sINFOros2_control_node[2026-08-21 15:10:23.616] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-08-21 15:10:23.616] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694244 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694244 ms (missed cycles : 4).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416392 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416392 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 9.42sINFOros2_control_node[2026-08-21 15:10:25.934] [info] Received new action goal ×2 + 9.42sINFOros2_control_node[2026-08-21 15:10:25.934] [info] Accepted new action goal ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806217 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806217 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 11.75sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 13.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.80sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 13.81sERRORobjective_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: 1787325030.32531118 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.61sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 17.16sWARNros2_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 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sERRORobjective_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: 1787325241.81689382 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787325242.42162848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 4.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520610 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520610 ms (missed cycles : 2).[0m ×2 + 8.21sINFOros2_control_node[2026-08-21 15:14:06.673] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-08-21 15:14:06.673] [info] Accepted new action goal ×2 + 8.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819050 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819050 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626786 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626786 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3).[0m ×2 + 13.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 13.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787325252.25960135 seconds ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3).[0m ×2 + 14.38sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787325252.84144115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.49sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2).[0m ×2 + 16.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 34 warnings · 124 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 + 2.18sWARNros2_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 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787325069.16706586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.07sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.07sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.38sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.81sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.91sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.99sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.24sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.24sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 8.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.26sINFOobjective_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 + 8.27sINFOobjective_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 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.58sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 8.58sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787325064.13304996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787325064.80119109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_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 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787325064.88132572 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 + 6.07sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787325069.16706586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 8.45sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.96sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.96sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.27sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 9.71sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.71sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.80sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.85sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.85sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.85sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.88sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.12sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.14sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.14sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 594 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.31sINFOobjective_server_node[2026-08-21 15:09:44.686] [moveit_pro_license] [info] ×2 + 0.31sINFOobjective_server_node************************************************* ×4 + 0.31sINFOobjective_server_node* MoveIt Pro License ×2 + 0.31sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.41sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.47sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.47sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.47sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.47sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.47sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.47sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.47sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.47sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.47sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.47sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.48sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.48sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.48sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.48sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.48sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.48sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.48sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.74sINFOcomponent_container_mt[2026-08-21 15:09:45.112] [moveit_pro_license] [info] ×2 + 0.74sINFOcomponent_container_mt************************************************* ×4 + 0.74sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.74sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-08-21 15:09:45.247] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.87sINFOros2_control_node[2026-08-21 15:09:45.247] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.89sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.89sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.89sWARNros2_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 + 0.90sINFOros2_control_node[2026-08-21 15:09:45.272] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.90sINFOros2_control_node[2026-08-21 15:09:45.272] [info] Controller state will be published at 50 Hz. ×2 + 0.90sINFOros2_control_node[2026-08-21 15:09:45.278] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.97sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.97sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.21sINFOros2-6process has finished cleanly [pid 8938] ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468376 ms (missed cycles : 3). + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468376 ms (missed cycles : 3).[0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.63sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.66sINFOros2-3process has finished cleanly [pid 8935] ×2 + 1.67sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.68sINFOforce_torque_sensor_broadcasterconfigure successful + 1.69sINFOros2_control_nodeconfigure successful[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.69sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.69sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.98sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.98sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.98sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.02sINFOros2-2process has finished cleanly [pid 8934] ×2 + 2.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 2.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 2.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.08sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.11sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 2.11sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.13sWARNobjective_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 + 2.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.46sINFOros2-7process has finished cleanly [pid 8939] ×2 + 2.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 2.48sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 2.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 2.55sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 2.55sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 2.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 2.90sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 2.91sINFOros2-8process has finished cleanly [pid 8940] ×2 + 2.97sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.97sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.97sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.97sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.97sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.98sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.98sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.99sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.99sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.31sINFOros2-5process has finished cleanly [pid 8937] ×2 + 3.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 3.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 3.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 3.66sWARNros2_control_nodeCamera render tick took 1.40 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.67sINFOros2-4process has finished cleanly [pid 8936] ×2 + 4.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 4.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 5.47sWARNros2_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 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 8.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sINFOobjective_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 + 8.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.13sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 8.13sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.61sINFOobjective_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 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787325275.81808043 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325280.15052319 seconds ×3 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_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 + 2.58sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1787325275.81808043 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.23sINFOobjective_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 + 4.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325280.15052319 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 28 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 2.19sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787325002.83316040 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787325064.13304996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787325064.80119109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_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 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787325064.88132572 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 + 6.07sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595364 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595364 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_node[2026-08-21 15:10:15.609] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-21 15:10:15.609] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.00sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 2.13sWARNros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.80sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 7.15sWARNros2_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 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 8935] ×2 + 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 ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 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 + 0.35sINFOcontroller_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 + 0.39sINFOros2-2process has finished cleanly [pid 8934] ×2 + 0.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×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 ×4 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sWARNobjective_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 + 0.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.29sINFOros2-8process has finished cleanly [pid 8940] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.69sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.40 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 + 2.04sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.84sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 1.54sWARNros2_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 + 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 + 1.55sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787325275.81808043 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.20sINFOobjective_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 + 3.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688409 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325280.15052319 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00198456 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-21 15:10:49.225] [info] Accepted new action goal ×2 + 0.64sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-21 15:10:49.657] [info] Accepted new action goal ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144281 ms (missed cycles : 3).[0m ×2 + 0.86sWARNros2_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 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860240 ms (missed cycles : 2).[0m ×2 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634432 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.10sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-08-21 15:10:52.119] [info] Accepted new action goal ×2 + 3.38sINFOobjective_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 + 3.39sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Got request to cancel active goal. ×2 + 3.39sINFOros2_control_node[2026-08-21 15:10:52.406] [info] Canceling active goal... ×2 + 3.40sERRORobjective_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: 1787325052.42054367 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787325053.05666208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875336 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-21 15:10:53.220] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094289 ms (missed cycles : 4).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410109 ms (missed cycles : 3).[0m ×2 + 6.54sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-08-21 15:10:55.561] [info] Accepted new action goal ×2 + 6.86sWARNros2_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 ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 + 2.18sWARNros2_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 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453158 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129488 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787325069.16706586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.07sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.07sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.38sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.81sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.91sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.99sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.24sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.24sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787325002.83316040 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047831 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787325002.83316040 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787325002.83316040 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787325002.83316040 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787325002.83316040 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578678 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625366 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.031] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-21 15:10:02.032] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551976 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Got request to cancel active goal. ×2 + 2.16sINFOros2_control_node[2026-08-21 15:10:02.808] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787325002.83316040 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787325003.45387459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787325003.56400490 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651076 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787325004.17942286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-21 15:10:04.352] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076607 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964852 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463215 ms (missed cycles : 4).[0m ×2 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-08-21 15:10:17.482] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551022 ms (missed cycles : 3).[0m ×2 + 1.09sWARNros2_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 3.066032 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066032 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787325018.86958194 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787325019.47482634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787325019.55498004 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088369 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787325020.18277574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-21 15:10:20.286] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697380 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669253 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769327 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394089 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-21 15:10:28.264] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196374 ms (missed cycles : 4).[0m ×2 + 1.42sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002841 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.312] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-08-21 15:10:30.313] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1787325030.32531118 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691850 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787325030.94772768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-21 15:10:31.131] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118571 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198659 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259880 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089492 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719611 ms (missed cycles : 4).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617779 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787325064.13304996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883381 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787325064.80119109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_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 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787325064.88132572 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787325065.47343779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-21 15:11:05.577] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868902 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482861 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787325067.58357072 seconds ×3 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170018 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_node[2026-08-21 15:11:10.031] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545205017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.59sINFOobjective_server_node[0;93m2026-08-21 15:11:10.545231389 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.89sINFOobjective_server_node[2026-08-21 15:11:10.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977898 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287283522 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-21 15:11:11.287322486 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-21 15:11:11.381] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.428311858 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431213035 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-21 15:11:11.431235577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sINFOobjective_server_node[2026-08-21 15:11:11.459] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.74sINFOobjective_server_node[0;93m2026-08-21 15:11:11.700731238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717045700 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-08-21 15:11:11.717087593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032593 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787325072.98780537 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198495 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787325073.65136576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOobjective_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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-21 15:11:14.048] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385741 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556352 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 99 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:12:02.841] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200535 ms (missed cycles : 3).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658315 ms (missed cycles : 4).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378643 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787325126.44772005 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149241 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787325127.04713321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.35sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-21 15:12:07.193] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009617 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_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 + 5.62sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037425 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×10 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 3541 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1158 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1158 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×578 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×578 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325192.89212012 seconds ×3 + 3.62sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.62sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5). + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5).[0m ×2 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787325193.51370025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 5 iterations (0.00426428 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 3541 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1158 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1158 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×578 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×578 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034208 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911415 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273951 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787325192.89212012 seconds ×3 + 3.62sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.62sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5). + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591009 ms (missed cycles : 5).[0m ×2 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787325193.51370025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 5 iterations (0.00426428 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-21 15:13:13.718] [info] Accepted new action goal ×2 + 4.51sWARNros2_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 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673328 ms (missed cycles : 2).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984229 ms (missed cycles : 3).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245006 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787325219.83388710 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787325220.49129486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960459 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650682 ms (missed cycles : 4).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787325219.83388710 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547648 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787325220.49129486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-08-21 15:13:40.707] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359335 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844504 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-21 15:13:47.459] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315071 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897423 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-08-21 15:13:49.324] [info] Accepted new action goal ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175738 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787325230.71151376 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471092 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787325231.45278311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-21 15:13:51.606] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052754 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295258 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300538 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832412 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731655 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281526 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004588 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sERRORobjective_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: 1787325241.81689382 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787325242.42162848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-21 15:14:02.658] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563609 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994970 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394522 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448076 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406834 ms (missed cycles : 3).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787325252.25960135 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883270 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787325252.84144115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-21 15:14:12.955] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017116 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626521 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949002 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275194 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727124 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sERRORobjective_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: 1787325263.31177425 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118959 ms (missed cycles : 3).[0m ×2 + 2.21sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787325263.94160318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787325264.01192808 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787325264.59413385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787325264.61615944 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091357 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787325265.32368398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-21 15:14:25.417] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995722 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837352 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.61sINFOobjective_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 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787325275.81808043 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522614 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749677 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278593 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873931 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.61sINFOobjective_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 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Got request to cancel active goal. ×2 + 3.62sINFOros2_control_node[2026-08-21 15:14:35.813] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787325275.81808043 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066740 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325276.40106249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325276.88119626 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542692 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787325277.46382594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787325277.46557593 seconds ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787325278.19441152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787325278.19494271 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517138 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325278.77038932 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 · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.9s | 39 warnings · 626 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-21-15-09-40-369784-dde7c808aa33-8885 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.23sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.26sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.26sINFOcontroller_managerupdate rate is 600 Hz + 1.26sINFOcontroller_managerOverruns handling is : enabled + 1.26sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.26sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.36sINFOros2_control_node-1process started with pid [8933] ×2 + 1.36sINFOmove_group-9process started with pid [8952] ×2 + 1.36sINFOparameter_manager_node-10process started with pid [8953] ×2 + 1.36sINFOwaypoint_manager_node-11process started with pid [8954] ×2 + 1.36sINFOmove_joint_resampler_node-12process started with pid [8955] ×2 + 1.37sINFOmove_end_effector_resampler_node-13process started with pid [8956] ×2 + 1.37sINFOobjective_server_node_main-14process started with pid [8957] ×2 + 1.37sINFOcomponent_container_mt-15process started with pid [8958] ×2 + 1.37sINFOcomponent_container_mt-16process started with pid [8959] ×2 + 1.37sINFOexecute_objective_bridge-17process started with pid [8960] ×2 + 1.37sINFOui_teleop_bridge-18process started with pid [8961] ×2 + 1.37sINFOweb_bridge-19process started with pid [8962] ×2 + 1.37sINFOtf2_web_republisher_node-20process started with pid [9017] ×2 + 1.37sINFOvideo_server-21process started with pid [9018] ×2 + 1.37sINFOweb_bridge_auth_proxy-22process started with pid [9033] ×2 + 1.37sINFOweb_video_auth_proxy-23process started with pid [9034] ×2 + 1.38sINFOros2-2process started with pid [8934] ×2 + 1.38sINFOros2-3process started with pid [8935] ×2 + 1.38sINFOros2-4process started with pid [8936] ×2 + 1.38sINFOros2-5process started with pid [8937] ×2 + 1.38sINFOros2-6process started with pid [8938] ×2 + 1.38sINFOros2-7process started with pid [8939] ×2 + 1.38sINFOros2-8process started with pid [8940] ×2 + 1.40sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.40sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.40sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.40sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.40sWARNros2_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 + 1.45sINFOcontroller_managerReceived robot description from topic. + 1.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.46sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.46sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.46sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277033 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277033 ms (missed cycles : 4).[0m ×2 + 1.54sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF configuration loaded from /tmp/moveit-webrtc-i2wvfu7s/mediamtx.yml ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.46sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.46sINFOros2_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 + 2.54sINFOmove_group[2026-08-21 15:09:43.483] [moveit_pro_license] [info] ×2 + 2.54sINFOmove_group************************************************* ×4 + 2.54sINFOmove_group* MoveIt Pro License ×2 + 2.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914043 ms (missed cycles : 6). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914043 ms (missed cycles : 6).[0m ×2 + 2.65sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.79sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.83sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.85sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.85sINFOwaypoint_manager_node[2026-08-21 15:09:43.799] [moveit_pro_license] [info] ×2 + 2.86sINFOwaypoint_manager_node************************************************* ×4 + 2.86sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.86sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.90sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.93sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.95sINFOmove_group ×4 + 2.95sINFOmove_group[92mYou can start planning now![0m ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.74sINFOobjective_server_node[2026-08-21 15:09:44.686] [moveit_pro_license] [info] ×2 + 3.74sINFOobjective_server_node************************************************* ×4 + 3.74sINFOobjective_server_node* MoveIt Pro License ×2 + 3.74sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.84sINFOobjective_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 + 3.84sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.86sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.86sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.86sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sWARNros2_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 + 3.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.17sINFOcomponent_container_mt[2026-08-21 15:09:45.112] [moveit_pro_license] [info] ×2 + 4.17sINFOcomponent_container_mt************************************************* ×4 + 4.17sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.17sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.25sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 4.25sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 4.30sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.30sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.30sINFOros2_control_node[2026-08-21 15:09:45.247] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.30sINFOros2_control_node[2026-08-21 15:09:45.247] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.32sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.32sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.32sWARNros2_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 + 4.33sINFOros2_control_node[2026-08-21 15:09:45.272] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.33sINFOros2_control_node[2026-08-21 15:09:45.272] [info] Controller state will be published at 50 Hz. ×2 + 4.33sINFOros2_control_node[2026-08-21 15:09:45.278] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.59sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.59sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.59sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.60sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 4.60sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 4.60sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.64sINFOros2-6process has finished cleanly [pid 8938] ×2 + 4.64sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.64sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.64sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.64sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.64sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.64sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.65sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468376 ms (missed cycles : 3). + 4.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468376 ms (missed cycles : 3).[0m ×2 + 4.65sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.65sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 5.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 5.09sINFOros2-3process has finished cleanly [pid 8935] ×2 + 5.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.11sINFOforce_torque_sensor_broadcasterconfigure successful + 5.12sINFOros2_control_nodeconfigure successful[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.45sINFOros2-2process has finished cleanly [pid 8934] ×2 + 5.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 5.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 5.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.53sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 5.54sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 5.56sWARNobjective_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 + 5.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 5.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 5.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 5.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.88sINFOros2-7process has finished cleanly [pid 8939] ×2 + 5.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 5.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 5.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 5.98sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 5.98sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 6.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 6.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 6.34sINFOros2-8process has finished cleanly [pid 8940] ×2 + 6.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.74sINFOros2-5process has finished cleanly [pid 8937] ×2 + 6.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 6.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 6.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.79sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.79sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.79sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.79sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.80sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.80sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 7.09sWARNros2_control_nodeCamera render tick took 1.40 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 + 7.10sINFOros2-4process has finished cleanly [pid 8936] ×2 + 7.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 8.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 8.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 8.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 8.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 8.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 8.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 8.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 8.90sWARNros2_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 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 9.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 10.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8940] ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 8937] ×2 + 0.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 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 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.78sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 2.58sWARNros2_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 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.24sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 27 warnings · 390 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.52sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 0.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.87sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.88sINFOros2-8process has finished cleanly [pid 8940] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 1.63sWARNros2_control_nodeCamera render tick took 1.40 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 + 1.64sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.44sWARNros2_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 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.10sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8940] ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 8937] ×2 + 0.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 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 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.78sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 2.58sWARNros2_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 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.24sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 8935] ×2 + 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 ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 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 + 0.35sINFOcontroller_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 + 0.39sINFOros2-2process has finished cleanly [pid 8934] ×2 + 0.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×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 ×4 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sWARNobjective_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 + 0.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.29sINFOros2-8process has finished cleanly [pid 8940] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.69sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.40 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 + 2.04sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.84sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 147 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-21-15-09-40-369784-dde7c808aa33-8885 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.23sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.26sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.26sINFOcontroller_managerupdate rate is 600 Hz + 1.26sINFOcontroller_managerOverruns handling is : enabled + 1.26sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.26sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.36sINFOros2_control_node-1process started with pid [8933] ×2 + 1.36sINFOmove_group-9process started with pid [8952] ×2 + 1.36sINFOparameter_manager_node-10process started with pid [8953] ×2 + 1.36sINFOwaypoint_manager_node-11process started with pid [8954] ×2 + 1.36sINFOmove_joint_resampler_node-12process started with pid [8955] ×2 + 1.37sINFOmove_end_effector_resampler_node-13process started with pid [8956] ×2 + 1.37sINFOobjective_server_node_main-14process started with pid [8957] ×2 + 1.37sINFOcomponent_container_mt-15process started with pid [8958] ×2 + 1.37sINFOcomponent_container_mt-16process started with pid [8959] ×2 + 1.37sINFOexecute_objective_bridge-17process started with pid [8960] ×2 + 1.37sINFOui_teleop_bridge-18process started with pid [8961] ×2 + 1.37sINFOweb_bridge-19process started with pid [8962] ×2 + 1.37sINFOtf2_web_republisher_node-20process started with pid [9017] ×2 + 1.37sINFOvideo_server-21process started with pid [9018] ×2 + 1.37sINFOweb_bridge_auth_proxy-22process started with pid [9033] ×2 + 1.37sINFOweb_video_auth_proxy-23process started with pid [9034] ×2 + 1.38sINFOros2-2process started with pid [8934] ×2 + 1.38sINFOros2-3process started with pid [8935] ×2 + 1.38sINFOros2-4process started with pid [8936] ×2 + 1.38sINFOros2-5process started with pid [8937] ×2 + 1.38sINFOros2-6process started with pid [8938] ×2 + 1.38sINFOros2-7process started with pid [8939] ×2 + 1.38sINFOros2-8process started with pid [8940] ×2 + 1.40sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.40sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.40sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.40sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.40sWARNros2_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 + 1.45sINFOcontroller_managerReceived robot description from topic. + 1.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.46sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.46sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.46sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277033 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277033 ms (missed cycles : 4).[0m ×2 + 1.54sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF configuration loaded from /tmp/moveit-webrtc-i2wvfu7s/mediamtx.yml ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.77sINFOvideo_server2026/08/21 15:09:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.46sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.46sINFOros2_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 + 2.54sINFOmove_group[2026-08-21 15:09:43.483] [moveit_pro_license] [info] ×2 + 2.54sINFOmove_group************************************************* ×4 + 2.54sINFOmove_group* MoveIt Pro License ×2 + 2.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914043 ms (missed cycles : 6). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914043 ms (missed cycles : 6).[0m ×2 + 2.65sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.79sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.83sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.84sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.85sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.85sINFOwaypoint_manager_node[2026-08-21 15:09:43.799] [moveit_pro_license] [info] ×2 + 2.86sINFOwaypoint_manager_node************************************************* ×4 + 2.86sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.86sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.90sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.93sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.95sINFOmove_group ×4 + 2.95sINFOmove_group[92mYou can start planning now![0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 8935] ×2 + 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 ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 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 + 0.35sINFOcontroller_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 + 0.39sINFOros2-2process has finished cleanly [pid 8934] ×2 + 0.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×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 ×4 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sWARNobjective_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 + 0.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.29sINFOros2-8process has finished cleanly [pid 8940] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.69sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.40 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 + 2.04sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.84sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 8935] ×2 + 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 ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 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 + 0.35sINFOcontroller_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 + 0.39sINFOros2-2process has finished cleanly [pid 8934] ×2 + 0.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×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 ×4 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sWARNobjective_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 + 0.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.29sINFOros2-8process has finished cleanly [pid 8940] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.69sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.40 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 + 2.04sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.84sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 390 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-21 15:09:46.481] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-21 15:09:46.481] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 8939] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763769 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-08-21 15:09:46.926] [info] Controller state will be published at 20 Hz. ×2 + 0.52sINFOros2_control_node[2026-08-21 15:09:46.927] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787324987.26544571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787324987.27568102 seconds ×3 + 0.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 0.87sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 0.88sINFOros2-8process has finished cleanly [pid 8940] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2-5process has finished cleanly [pid 8937] ×2 + 1.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg + 1.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c5rz45bd --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9r33nsy --params-file /tmp/launch_params_zsttn_eg [0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 1.63sWARNros2_control_nodeCamera render tick took 1.40 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 + 1.64sINFOros2-4process has finished cleanly [pid 8936] ×2 + 2.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 3.44sWARNros2_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 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.10sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 235 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 + 6.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.12sINFOros2_control_node[2026-08-21 15:09:54.992] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-08-21 15:09:54.992] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206822 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206822 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787324987.87752843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510978 ms (missed cycles : 4).[0m ×2 + 0.16sWARNros2_control_nodeCamera render tick took 1.40 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 + 0.17sINFOros2-4process has finished cleanly [pid 8936] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787324988.93766904 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242004 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787324989.53560710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787324989.59682679 seconds ×3 + 1.97sWARNros2_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 4.709645 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709645 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787324990.23412395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787324990.25426865 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787324990.97048616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787324991.12097239 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401369 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787324991.77573109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787324991.81586552 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633798 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787324992.39809990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.6491e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-21 15:09:52.503] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767688 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713292 ms (missed cycles : 3).[0m ×2 | ||||