117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.6s
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 | 160 warnings · 21690 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3).[0m ×2 + 2.30sWARNros2_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 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5).[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787650689.92544627 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787650690.53283262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.48sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_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 + 5.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2).[0m ×2 + 7.67sWARNros2_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 ×4 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909845 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909845 ms (missed cycles : 2).[0m ×2 + 7.78sINFOjoint_trajectory_controllerReceived new action goal ×3573 + 7.78sINFOjoint_trajectory_controllerAccepted new action goal ×3573 + 7.78sINFOros2_control_nodeReceived new action goal[0m ×7146 + 7.78sINFOros2_control_nodeAccepted new action goal[0m ×7146 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830466 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830466 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242169 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242169 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170057 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170057 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157410 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157410 ms (missed cycles : 2).[0m ×2 + 12.81sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.81sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.81sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789617 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789617 ms (missed cycles : 5).[0m ×2 + 13.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963583 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963583 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758037 ms (missed cycles : 8). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758037 ms (missed cycles : 8).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452165 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452165 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343516 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343516 ms (missed cycles : 4).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377795 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377795 ms (missed cycles : 3).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240392 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240392 ms (missed cycles : 2).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729358 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729358 ms (missed cycles : 2).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932732 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932732 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090652 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090652 ms (missed cycles : 2).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703739 ms (missed cycles : 2). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703739 ms (missed cycles : 2).[0m ×2 + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503497 ms (missed cycles : 3). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503497 ms (missed cycles : 3).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728749 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728749 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284890 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284890 ms (missed cycles : 2).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816210 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816210 ms (missed cycles : 3).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108455 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108455 ms (missed cycles : 2).[0m ×2 + 28.69sWARNros2_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 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351166 ms (missed cycles : 3). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351166 ms (missed cycles : 3).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249990 ms (missed cycles : 2). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249990 ms (missed cycles : 2).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692531 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692531 ms (missed cycles : 2).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612477 ms (missed cycles : 7). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612477 ms (missed cycles : 7).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705985 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705985 ms (missed cycles : 2).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464673 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464673 ms (missed cycles : 3).[0m ×2 + 35.69sWARNros2_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 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204400 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204400 ms (missed cycles : 2).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866227 ms (missed cycles : 2). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866227 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637423 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637423 ms (missed cycles : 3).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462390 ms (missed cycles : 2). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462390 ms (missed cycles : 2).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437942 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437942 ms (missed cycles : 2).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796384 ms (missed cycles : 2). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796384 ms (missed cycles : 2).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899934 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899934 ms (missed cycles : 3).[0m ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981099 ms (missed cycles : 5). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981099 ms (missed cycles : 5).[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555262 ms (missed cycles : 5). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555262 ms (missed cycles : 5).[0m ×2 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170326 ms (missed cycles : 4). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170326 ms (missed cycles : 4).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936486 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936486 ms (missed cycles : 2).[0m ×2 + 48.06sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650734.31039286 seconds ×3 + 48.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787650734.95241618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.77sINFOobjective_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 + 48.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.86sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 48.87sINFOros2_control_node[2026-08-25 09:38:55.076] [info] Received new action goal ×2 + 48.87sINFOros2_control_node[2026-08-25 09:38:55.076] [info] Accepted new action goal ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360620 ms (missed cycles : 5). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360620 ms (missed cycles : 5).[0m ×2 + 49.41sWARNros2_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 + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135532 ms (missed cycles : 2). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135532 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 156 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 + 7.19sWARNros2_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 ×4 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483034 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483034 ms (missed cycles : 6).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 7.78sINFOros2_control_node[2026-08-25 09:37:20.281] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-08-25 09:37:20.281] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031829 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031829 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602076 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602076 ms (missed cycles : 2).[0m ×2 + 10.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.95sINFOros2_control_node[2026-08-25 09:37:23.451] [info] Received new action goal ×2 + 10.95sINFOros2_control_node[2026-08-25 09:37:23.451] [info] Accepted new action goal ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611789 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611789 ms (missed cycles : 4).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358353 ms (missed cycles : 6). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358353 ms (missed cycles : 6).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546758 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546758 ms (missed cycles : 3).[0m ×2 + 13.84sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.89sINFOros2_control_node[2026-08-25 09:37:26.393] [info] Received new action goal ×2 + 13.89sINFOros2_control_node[2026-08-25 09:37:26.393] [info] Accepted new action goal ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175390 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175390 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832685 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832685 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932341 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932341 ms (missed cycles : 2).[0m ×2 + 16.84sINFOobjective_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 + 16.84sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.85sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.85sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.85sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129085 ms (missed cycles : 5). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129085 ms (missed cycles : 5).[0m ×2 + 18.33sWARNros2_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 ×6 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497758 ms (missed cycles : 4). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497758 ms (missed cycles : 4).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425069 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425069 ms (missed cycles : 2).[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158250 ms (missed cycles : 2). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158250 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673458 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673458 ms (missed cycles : 3).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311505 ms (missed cycles : 5). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311505 ms (missed cycles : 5).[0m ×2 + 23.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 23.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.63sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.63sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.64sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.64sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.897045 ms (missed cycles : 6). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.897045 ms (missed cycles : 6).[0m ×2 + 24.52sINFOros2_control_node[2026-08-25 09:37:37.020] [info] Received new action goal ×2 + 24.52sINFOros2_control_node[2026-08-25 09:37:37.020] [info] Accepted new action goal ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894228 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894228 ms (missed cycles : 2).[0m ×2 + 25.68sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.69sINFOobjective_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 + 25.97sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 25.97sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148026 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148026 ms (missed cycles : 2).[0m ×2 + 26.02sINFOros2_control_node[2026-08-25 09:37:38.524] [info] Received new action goal ×2 + 26.02sINFOros2_control_node[2026-08-25 09:37:38.524] [info] Accepted new action goal ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190067 ms (missed cycles : 4). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190067 ms (missed cycles : 4).[0m ×2 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139325 ms (missed cycles : 4). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139325 ms (missed cycles : 4).[0m ×2 + 28.15sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 28.15sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.17sINFOros2_control_node[2026-08-25 09:37:40.673] [info] Received new action goal ×2 + 28.17sINFOros2_control_node[2026-08-25 09:37:40.673] [info] Accepted new action goal ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336516 ms (missed cycles : 3). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336516 ms (missed cycles : 3).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168310 ms (missed cycles : 2). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168310 ms (missed cycles : 2).[0m ×2 + 31.20sINFOros2_control_node[2026-08-25 09:37:43.702] [info] Received new action goal ×2 + 31.20sINFOros2_control_node[2026-08-25 09:37:43.702] [info] Accepted new action goal ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753016 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753016 ms (missed cycles : 3).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684178 ms (missed cycles : 2). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684178 ms (missed cycles : 2).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596355 ms (missed cycles : 3). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596355 ms (missed cycles : 3).[0m ×2 + 33.78sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 33.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.83sINFOros2_control_node[2026-08-25 09:37:46.339] [info] Received new action goal ×2 + 33.83sINFOros2_control_node[2026-08-25 09:37:46.339] [info] Accepted new action goal ×2 + 34.17sWARNros2_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 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174016 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174016 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136460 ms (missed cycles : 2). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136460 ms (missed cycles : 2).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085475 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085475 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544762 ms (missed cycles : 4). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544762 ms (missed cycles : 4).[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022000 ms (missed cycles : 2). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022000 ms (missed cycles : 2).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189308 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189308 ms (missed cycles : 2).[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616982 ms (missed cycles : 2). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616982 ms (missed cycles : 2).[0m ×2 + 41.76sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659925 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659925 ms (missed cycles : 2).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046226 ms (missed cycles : 3). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046226 ms (missed cycles : 3).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650468 ms (missed cycles : 3). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650468 ms (missed cycles : 3).[0m ×2 + 44.51sINFOros2_control_node[2026-08-25 09:37:57.010] [info] Received new action goal ×2 + 44.51sINFOros2_control_node[2026-08-25 09:37:57.010] [info] Accepted new action goal ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180599 ms (missed cycles : 5). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180599 ms (missed cycles : 5).[0m ×2 + 45.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787650678.16694593 seconds ×3 + 46.46sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787650678.96529245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043653 ms (missed cycles : 2). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043653 ms (missed cycles : 2).[0m ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673824 ms (missed cycles : 3). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673824 ms (missed cycles : 3).[0m ×2 + 47.68sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 47.69sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.71sINFOros2_control_node[2026-08-25 09:38:00.211] [info] Received new action goal ×2 + 47.71sINFOros2_control_node[2026-08-25 09:38:00.211] [info] Accepted new action goal ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861790 ms (missed cycles : 6). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861790 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.6s | 114 warnings · 2917 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×902 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×902 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×450 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×450 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2).[0m ×2 + 2.59sWARNros2_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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650756.39971709 seconds ×3 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787650757.03211284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOobjective_server_nodeFound path in 5 iterations (0.00549538 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409110 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409110 ms (missed cycles : 3).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630406 ms (missed cycles : 3). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630406 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949957 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949957 ms (missed cycles : 2).[0m ×2 + 10.46sWARNros2_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 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643461 ms (missed cycles : 4). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643461 ms (missed cycles : 4).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616665 ms (missed cycles : 5). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616665 ms (missed cycles : 5).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792041 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792041 ms (missed cycles : 2).[0m ×2 + 14.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266960 ms (missed cycles : 4). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266960 ms (missed cycles : 4).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824064 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824064 ms (missed cycles : 2).[0m ×2 + 16.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357608 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357608 ms (missed cycles : 3).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105088 ms (missed cycles : 4). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105088 ms (missed cycles : 4).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988755 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988755 ms (missed cycles : 2).[0m ×2 + 18.86sINFOobjective_server_nodeFound path in 4 iterations (0.00271502 s). ×2 + 18.93sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.96sINFOobjective_server_nodeFound path in 12 iterations (0.00436135 s). ×2 + 19.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.06sINFOobjective_server_nodeFound path in 1 iterations (0.00361613 s). ×2 + 19.12sINFOobjective_server_nodePath shortcutter: [X____________________________________X___________________X] ×2 + 19.14sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 19.17sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.18sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 19.22sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 19.24sINFOobjective_server_nodeFound path in 8 iterations (0.00396307 s). ×2 + 19.30sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 19.33sINFOobjective_server_nodeFound path in 1 iterations (0.00646278 s). ×2 + 19.38sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 19.40sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786582 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786582 ms (missed cycles : 2).[0m ×2 + 19.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.46sINFOobjective_server_nodeFound path in 4 iterations (0.0046575 s). ×2 + 19.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.58sINFOobjective_server_nodeFound path in 41 iterations (0.0139577 s). ×2 + 19.64sINFOobjective_server_nodePath shortcutter: [X________________________________XX_________________________X_______________X] ×2 + 19.66sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 19.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 19.73sINFOobjective_server_nodeFound path in 1 iterations (0.0048024 s). ×2 + 19.78sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.81sINFOobjective_server_nodeFound path in 1 iterations (0.00290174 s). ×2 + 19.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______________________X] ×2 + 19.92sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 19.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 20.06sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.09sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________X] ×2 + 20.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.41sINFOros2_control_node[2026-08-25 09:39:32.841] [info] Received new action goal ×2 + 20.41sINFOros2_control_node[2026-08-25 09:39:32.841] [info] Accepted new action goal ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859590 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859590 ms (missed cycles : 2).[0m ×2 + 21.40sWARNros2_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 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067845 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067845 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173085 ms (missed cycles : 4). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173085 ms (missed cycles : 4).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346888 ms (missed cycles : 4). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346888 ms (missed cycles : 4).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317152 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317152 ms (missed cycles : 2).[0m ×2 + 25.39sINFOros2_control_node[2026-08-25 09:39:37.824] [info] Received new action goal ×2 + 25.39sINFOros2_control_node[2026-08-25 09:39:37.824] [info] Accepted new action goal ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249153 ms (missed cycles : 4). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249153 ms (missed cycles : 4).[0m ×2 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889201 ms (missed cycles : 2). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889201 ms (missed cycles : 2).[0m ×2 + 27.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.09sINFOros2_control_node[2026-08-25 09:39:39.515] [info] Received new action goal ×2 + 27.09sINFOros2_control_node[2026-08-25 09:39:39.515] [info] Accepted new action goal ×2 + 27.29sWARNros2_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 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.897172 ms (missed cycles : 5). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.897172 ms (missed cycles : 5).[0m ×2 + 28.30sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.35sINFOros2_control_node[2026-08-25 09:39:40.778] [info] Received new action goal ×2 + 28.35sINFOros2_control_node[2026-08-25 09:39:40.778] [info] Accepted new action goal ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002292 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002292 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4).[0m ×2 + 33.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4).[0m ×2 + 33.57sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787650786.00242424 seconds ×3 + 33.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2).[0m ×2 + 34.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787650786.68068194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.46sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 34.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.48sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Received new action goal ×2 + 34.48sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Accepted new action goal ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 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 | 89 warnings · 15226 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2511 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2511 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5022 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5022 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981099 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981099 ms (missed cycles : 5).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555262 ms (missed cycles : 5). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555262 ms (missed cycles : 5).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170326 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170326 ms (missed cycles : 4).[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936486 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936486 ms (missed cycles : 2).[0m ×2 + 3.92sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650734.31039286 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787650734.95241618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.73sINFOros2_control_node[2026-08-25 09:38:55.076] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 09:38:55.076] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360620 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360620 ms (missed cycles : 5).[0m ×2 + 5.27sWARNros2_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 + 5.98sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.03sINFOobjective_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 + 6.05sINFOobjective_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 ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135532 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135532 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874685 ms (missed cycles : 5). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874685 ms (missed cycles : 5).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938674 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938674 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558699 ms (missed cycles : 7). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558699 ms (missed cycles : 7).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094411 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094411 ms (missed cycles : 2).[0m ×2 + 10.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688059 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688059 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036624 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036624 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758233 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758233 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665843 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665843 ms (missed cycles : 3).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724172 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724172 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595684 ms (missed cycles : 6). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595684 ms (missed cycles : 6).[0m ×2 + 17.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090856 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090856 ms (missed cycles : 2).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275776 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275776 ms (missed cycles : 2).[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704949 ms (missed cycles : 2). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704949 ms (missed cycles : 2).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776192 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776192 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898038 ms (missed cycles : 2). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898038 ms (missed cycles : 2).[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2).[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2).[0m ×2 + 24.67sWARNros2_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 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3).[0m ×2 + 26.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650756.39971709 seconds ×3 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2).[0m ×2 + 26.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787650757.03211284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.86sINFOobjective_server_nodeFound path in 5 iterations (0.00549538 s). ×2 + 26.93sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.95sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Accepted new action goal ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2).[0m ×2 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.0s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650562.44519162 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383837 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383837 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911680 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911680 ms (missed cycles : 5).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.572074 ms (missed cycles : 8). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.572074 ms (missed cycles : 8).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236300 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236300 ms (missed cycles : 2).[0m ×2 + 9.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780268 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780268 ms (missed cycles : 2).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303781 ms (missed cycles : 4). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303781 ms (missed cycles : 4).[0m ×2 + 13.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.08sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855479 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855479 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 13.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.46sINFOobjective_server_nodeFound path in 1 iterations (0.00305143 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.65sINFOros2_control_node[2026-08-25 09:36:13.458] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-08-25 09:36:13.458] [info] Accepted new action goal ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.764467 ms (missed cycles : 5). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.764467 ms (missed cycles : 5).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316557 ms (missed cycles : 5). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316557 ms (missed cycles : 5).[0m ×2 + 16.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.12sINFOros2_control_node[2026-08-25 09:36:15.931] [info] Received new action goal ×2 + 16.12sINFOros2_control_node[2026-08-25 09:36:15.931] [info] Accepted new action goal ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 17.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.99sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 17.99sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 19.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 20.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 20.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.84sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 20.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.85sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 20.85sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 22.11sWARNros2_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 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 186 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00295422 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.26sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Received new action goal ×2 + 0.26sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Accepted new action goal ×2 + 0.69sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6).[0m ×2 + 1.22sWARNros2_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 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6).[0m ×2 + 3.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.18sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Accepted new action goal ×2 + 3.28sINFOobjective_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 + 3.28sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1787650612.93168807 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787650613.58774495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.15sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986159 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986159 ms (missed cycles : 5).[0m ×2 + 6.77sINFOros2_control_node[2026-08-25 09:36:56.418] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-08-25 09:36:56.418] [info] Accepted new action goal ×2 + 7.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800940 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800940 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880467 ms (missed cycles : 4). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880467 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000127 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000127 ms (missed cycles : 4).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626225 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626225 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229157 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229157 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4).[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787650624.98884273 seconds ×3 + 16.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 16.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.76sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 16.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 16.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659925 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046226 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046226 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_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 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.49sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.49sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.49sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650468 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650468 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.37sINFOros2_control_node[2026-08-25 09:37:57.010] [info] Received new action goal ×2 + 2.37sINFOros2_control_node[2026-08-25 09:37:57.010] [info] Accepted new action goal ×2 + 3.16sWARNros2_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 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180599 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180599 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787650678.16694593 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787650678.96529245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043653 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043653 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673824 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673824 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.54sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 5.55sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.57sINFOros2_control_node[2026-08-25 09:38:00.211] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-08-25 09:38:00.211] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861790 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861790 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841300 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841300 ms (missed cycles : 3).[0m ×2 + 8.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993725 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993725 ms (missed cycles : 2).[0m ×2 + 9.26sINFOobjective_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 + 9.26sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.26sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.26sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.27sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841858 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841858 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450619 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450619 ms (missed cycles : 3).[0m ×2 + 11.65sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 11.66sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.68sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3).[0m ×2 + 13.87sWARNros2_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 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787650689.92544627 seconds ×3 + 15.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787650690.53283262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 16.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.04sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Received new action goal ×2 + 16.04sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4).[0m ×2 + 17.31sINFOobjective_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 + 17.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 61 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_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 + 1.42sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 1.42sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 1.43sERRORobjective_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: 1787650841.93642950 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.32sINFOobjective_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 + 3.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650845.16046119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650845.99059129 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981541 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981541 ms (missed cycles : 3).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028657 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028657 ms (missed cycles : 2).[0m ×2 + 8.38sWARNros2_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 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786606 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786606 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012629 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012629 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282082 ms (missed cycles : 5). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282082 ms (missed cycles : 5).[0m ×2 + 11.27sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.30sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORweb_video_auth_proxy-23process has died [pid 9032, 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 + 11.30sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.32sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORweb_bridge_auth_proxy-22process has died [pid 9031, 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 + 11.32sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.34sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.35sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.36sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.37sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.38sINFOvideo_server-21process has finished cleanly [pid 9030] ×2 + 11.39sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.40sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.42sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.44sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.45sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.46sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.48sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.49sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.51sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.53sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.54sINFOcontroller_managerShutdown request received.... + 11.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.54sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.54sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.54sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.54sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.54sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.54sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.54sINFOcontroller_managerShutting down the controller manager. + 11.54sINFOvideo_server2026/08/25 09:40:51 INF shutting down gracefully ×2 + 11.54sINFOvideo_server2026/08/25 09:40:51 INF [WebRTC] closing ×2 + 11.54sINFOvideo_server2026/08/25 09:40:51 INF [RTSP] closing ×2 + 11.54sINFOvideo_server2026/08/25 09:40:51 INF waiting for running hooks ×2 + 11.54sERRORmove_group-9process has died [pid 8955, 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_gquebrkl --params-file /tmp/launch_params_7l72o861 --params-file /tmp/launch_params_fp9qjgy3 --params-file /tmp/launch_params_x_6f9zci --params-file /tmp/launch_params_hm6ya0ml --params-file /tmp/launch_params_ulvqv76x']. ×2 + 11.54sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.54sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.54sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.55sERRORmove_groupStack trace (most recent call last) in thread 9245: ×2 + 11.55sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.55sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.55sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6cd9562a63, in __clone ×2 + 11.55sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6cd94d5aa3, in ×2 + 11.55sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6cd9767db3, in ×2 + 11.55sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f6cd9ed8a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.55sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6cd9af9620, in rclcpp::Rate::sleep() ×2 + 11.55sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6cd9a3bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.55sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6cd99fd087, in ×2 + 11.55sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6cd9736390, in __cxa_throw ×2 + 11.55sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6cd9720a54, in std::terminate() ×2 + 11.55sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6cd97360d9, in ×2 + 11.55sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6cd9720ff4, in ×2 + 11.55sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6cd94618fe, in abort ×2 + 11.55sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6cd947e27d, in raise ×2 + 11.55sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6cd94d7b2c, in pthread_kill ×2 + 11.55sERRORmove_groupAborted (Signal sent by tkill() 8955 0) ×2 + 11.55sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.55sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.55sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.75sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.75sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.39sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9029] ×2 + 12.39sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.47sINFOui_teleop_bridge-18process has finished cleanly [pid 8964] ×2 + 12.49sINFOcomponent_container_mt-16process has finished cleanly [pid 8962] ×2 + 12.49sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8959] ×2 + 12.49sINFOexecute_objective_bridge-17process has finished cleanly [pid 8963] ×2 + 12.50sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8958] ×2 + 12.55sINFOwaypoint_manager_node-11process has finished cleanly [pid 8957] ×2 + 12.55sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.57sINFOparameter_manager_node-10process has finished cleanly [pid 8956] ×2 + 12.61sINFOcomponent_container_mt-15process has finished cleanly [pid 8961] ×2 + 12.64sINFOobjective_server_node[0;m[2026-08-25 09:40:53.149] [moveit_pro_license] [info] ×2 + 12.64sINFOobjective_server_node************************************************* ×4 + 12.64sINFOobjective_server_node* MoveIt Pro License ×2 + 12.64sINFOobjective_server_node* Application has successfully terminated ×2 + 13.13sINFOobjective_server_node_main-14process has finished cleanly [pid 8960] ×2 + 13.13sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.61sINFOweb_bridge-19process has finished cleanly [pid 8965] ×2 + 13.61sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.16sINFOros2_control_node-1process has finished cleanly [pid 8918] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.48sERRORobjective_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: 1787650829.43541718 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 3.92sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884024 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884024 ms (missed cycles : 3).[0m ×2 + 7.95sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.95sINFOros2_control_node[2026-08-25 09:40:34.905] [info] Received new action goal ×2 + 7.95sINFOros2_control_node[2026-08-25 09:40:34.905] [info] Accepted new action goal ×2 + 7.95sINFOros2_control_node[2026-08-25 09:40:34.905] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223147 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223147 ms (missed cycles : 5).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740037 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740037 ms (missed cycles : 2).[0m ×2 + 9.79sWARNros2_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 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876033 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876033 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 14.98sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 14.98sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 14.98sERRORobjective_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: 1787650841.93642950 seconds ×3 + 15.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 15.90sWARNros2_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 + 16.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.87sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.87sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.87sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.87sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 17.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875520 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875520 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.67sINFOros2_control_node[2026-08-25 09:35:54.681] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-25 09:35:54.681] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380813 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380813 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416007 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416007 ms (missed cycles : 2).[0m ×2 + 9.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.272214 ms (missed cycles : 7). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.272214 ms (missed cycles : 7).[0m ×2 + 10.39sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.41sINFOros2_control_node[2026-08-25 09:35:58.421] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-08-25 09:35:58.421] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 13.72sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 13.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.75sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 13.75sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_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 + 14.42sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 14.42sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 14.43sERRORobjective_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: 1787650562.44519162 seconds ×3 + 14.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 15.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 16.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.03sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 16.03sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 175 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787650598.78172565 seconds ×3 + 0.39sWARNros2_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 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077199 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077199 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636110 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636110 ms (missed cycles : 3).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588398 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588398 ms (missed cycles : 3).[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169398 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169398 ms (missed cycles : 4).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787650602.54706860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-08-25 09:36:42.760] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-25 09:36:42.760] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.603982 ms (missed cycles : 7). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.603982 ms (missed cycles : 7).[0m ×2 + 6.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952498 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952498 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 1 iterations (0.00291537 s). ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878096 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878096 ms (missed cycles : 2).[0m ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00396513 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.48sINFOros2_control_node[2026-08-25 09:36:46.963] [info] Received new action goal ×2 + 8.48sINFOros2_control_node[2026-08-25 09:36:46.963] [info] Accepted new action goal ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886459 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886459 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908413 ms (missed cycles : 5). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908413 ms (missed cycles : 5).[0m ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7).[0m ×2 + 11.25sINFOobjective_server_nodeFound path in 1 iterations (0.00295422 s). ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.42sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Accepted new action goal ×2 + 11.85sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Received new action goal ×2 + 11.85sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Accepted new action goal ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6).[0m ×2 + 12.38sWARNros2_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 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6).[0m ×2 + 14.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.34sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Accepted new action goal ×2 + 14.44sINFOobjective_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 + 14.45sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Got request to cancel active goal. ×2 + 14.45sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Canceling active goal... ×2 + 14.45sERRORobjective_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: 1787650612.93168807 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787650613.58774495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 15.31sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3).[0m ×2 + 15.78sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7).[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 7.714764 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714764 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787650818.44463396 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787650819.04515123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814520 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814520 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.270522 ms (missed cycles : 5). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.270522 ms (missed cycles : 5).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092310 ms (missed cycles : 4). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092310 ms (missed cycles : 4).[0m ×2 + 9.91sWARNros2_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 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459361 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459361 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_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 + 14.47sERRORobjective_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: 1787650829.43541718 seconds ×3 + 15.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 15.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOobjective_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 + 15.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 15.90sWARNros2_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 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 16.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 16.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.64sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 16.64sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160802 ms (missed cycles : 2). + 7.67sINFOros2_control_node[2026-08-25 09:36:24.010] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-08-25 09:36:24.010] [info] Accepted new action goal ×2 + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160802 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962890 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962890 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652235 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652235 ms (missed cycles : 2).[0m ×2 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 10.00sINFOros2_control_node[2026-08-25 09:36:26.345] [info] Received new action goal ×2 + 10.00sINFOros2_control_node[2026-08-25 09:36:26.345] [info] Accepted new action goal ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 11.33sWARNros2_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 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 12.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 12.35sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 12.35sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 14.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sERRORobjective_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: 1787650590.93389487 seconds ×3 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 15.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.43sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 15.43sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 16.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 62 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700795 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700795 ms (missed cycles : 2).[0m ×2 + 7.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 1 iterations (0.00330051 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 1 iterations (0.00440603 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.549885 ms (missed cycles : 6). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.549885 ms (missed cycles : 6).[0m ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.83sINFOros2_control_node[2026-08-25 09:36:36.057] [info] Received new action goal ×2 + 8.83sINFOros2_control_node[2026-08-25 09:36:36.057] [info] Accepted new action goal ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698095 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698095 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488226 ms (missed cycles : 4). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488226 ms (missed cycles : 4).[0m ×2 + 11.25sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.52sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.53sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787650598.78172565 seconds ×3 + 11.64sWARNros2_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 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077199 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077199 ms (missed cycles : 3).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636110 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636110 ms (missed cycles : 3).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588398 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588398 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169398 ms (missed cycles : 4). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169398 ms (missed cycles : 4).[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787650602.54706860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.52sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 15.53sINFOros2_control_node[2026-08-25 09:36:42.760] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-08-25 09:36:42.760] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.603982 ms (missed cycles : 7). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.603982 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329645 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329645 ms (missed cycles : 4).[0m ×2 + 8.63sWARNros2_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 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185423 ms (missed cycles : 5). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185423 ms (missed cycles : 5).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012936 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012936 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775957 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775957 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4).[0m ×2 + 14.64sERRORobjective_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: 1787650807.92843652 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787650808.54989982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 15.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.56sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787650786.00242424 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787650786.68068194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016299 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016299 ms (missed cycles : 5).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520838 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520838 ms (missed cycles : 3).[0m ×2 + 8.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 1 iterations (0.00279646 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.12sINFOros2_control_node[2026-08-25 09:39:51.637] [info] Received new action goal ×2 + 9.12sINFOros2_control_node[2026-08-25 09:39:51.637] [info] Accepted new action goal ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347779 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347779 ms (missed cycles : 6).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 11.59sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 11.59sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 11.75sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.46sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 14.24sWARNros2_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 + 14.41sINFOobjective_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 + 14.41sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 14.41sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 14.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 15.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.26sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 17.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775957 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_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 + 3.77sERRORobjective_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: 1787650807.92843652 seconds ×3 + 3.80sWARNros2_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787650808.54989982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.69sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582095 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582095 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732641 ms (missed cycles : 5). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732641 ms (missed cycles : 5).[0m ×2 + 8.71sINFOros2_control_node[2026-08-25 09:40:12.859] [info] Received new action goal ×2 + 8.71sINFOros2_control_node[2026-08-25 09:40:12.859] [info] Accepted new action goal ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157144 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157144 ms (missed cycles : 2).[0m ×2 + 9.80sWARNros2_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 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714764 ms (missed cycles : 5). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714764 ms (missed cycles : 5).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787650818.44463396 seconds ×3 + 14.89sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787650819.04515123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 15.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.03sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2).[0m ×2 + 15.67sWARNros2_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 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4).[0m ×2 + 16.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.9s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787650628.42145324 seconds ×3 + 3.16sWARNros2_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 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787650630.02082753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[2026-08-25 09:37:11.539] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258953721 [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 + 6.61sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258985688 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 8.24sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 8.24sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.40sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.45sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 8.45sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 8.45sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.51sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.87sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 8.89sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 8.89sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 8.97sWARNros2_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 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 10.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 11.35sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.43sINFOobjective_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 + 11.44sINFOobjective_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 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.77sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 11.77sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787650624.98884273 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787650628.42145324 seconds ×3 + 6.04sWARNros2_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 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787650630.02082753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2).[0m ×2 + 8.77sINFOobjective_server_node[2026-08-25 09:37:11.539] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.49sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258953721 [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 + 9.49sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258985688 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 36 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.38sINFOobjective_server_node[2026-08-25 09:35:43.793] [moveit_pro_license] [info] ×2 + 0.38sINFOobjective_server_node************************************************* ×4 + 0.38sINFOobjective_server_node* MoveIt Pro License ×2 + 0.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.50sINFOobjective_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 + 0.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.77sINFOcomponent_container_mt[2026-08-25 09:35:44.183] [moveit_pro_license] [info] ×2 + 0.77sINFOcomponent_container_mt************************************************* ×4 + 0.77sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.77sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.82sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.83sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.83sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.83sWARNros2_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 + 0.83sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.83sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.83sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.83sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.83sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.83sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.83sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.83sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.83sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.83sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.83sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.83sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.83sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.83sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.83sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.83sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.90sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.90sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.03sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793227 ms (missed cycles : 3). + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793227 ms (missed cycles : 3).[0m ×2 + 1.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.06sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.34sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2-3process has finished cleanly [pid 8920] ×2 + 1.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.48sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.48sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.48sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.51sINFOros2_control_node[2026-08-25 09:35:44.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.51sINFOros2_control_node[2026-08-25 09:35:44.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.53sINFOros2_control_node[2026-08-25 09:35:44.943] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.53sINFOros2_control_node[2026-08-25 09:35:44.943] [info] Controller state will be published at 50 Hz. ×2 + 1.54sINFOros2_control_node[2026-08-25 09:35:44.949] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2-6process has finished cleanly [pid 8923] ×2 + 1.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.93sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.96sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 1.96sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.33sINFOros2-7process has finished cleanly [pid 8924] ×2 + 2.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 2.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 2.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.45sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 2.45sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 2.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.76sINFOros2-8process has finished cleanly [pid 8925] ×2 + 2.78sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.79sINFOforce_torque_sensor_broadcasterconfigure successful + 2.79sINFOros2_control_nodeconfigure successful[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.08sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 3.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 3.10sINFOros2-2process has finished cleanly [pid 8919] ×2 + 3.13sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.13sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.13sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.13sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.13sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.13sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.14sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.14sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 3.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 3.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 3.47sINFOros2-4process has finished cleanly [pid 8921] ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 3.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.85sINFOros2-5process has finished cleanly [pid 8922] ×2 + 4.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 3.48sERRORobjective_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: 1787650841.93642950 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_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 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650845.16046119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650845.99059129 seconds ×3 + 7.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 3.71sERRORobjective_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: 1787650562.44519162 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650841.93642950 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 3.35sWARNros2_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 + 3.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.33sINFOobjective_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 + 4.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650845.16046119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650845.99059129 seconds ×3 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 4.229157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229157 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787650624.98884273 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787650628.42145324 seconds ×3 + 7.13sWARNros2_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 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 87 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sINFOros2_control_node[2026-08-25 09:36:15.931] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-08-25 09:36:15.931] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.97sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.97sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.83sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_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 + 3.50sERRORobjective_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: 1787650829.43541718 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 4.94sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.95sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.97sINFOforce_torque_sensor_broadcasterconfigure successful + 0.97sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.66sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 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 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 6.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_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 + 6.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 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 1.839835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1787650829.43541718 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 3.92sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3).[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 4.796739 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_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 + 1.42sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 1.42sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 1.43sERRORobjective_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: 1787650841.93642950 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.32sINFOobjective_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 + 3.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984907 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650845.16046119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150968 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650845.99059129 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981541 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981541 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_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 + 3.50sERRORobjective_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: 1787650829.43541718 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 4.94sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[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 4.565490 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 3.71sERRORobjective_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: 1787650562.44519162 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[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 4.565490 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565490 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 3.71sERRORobjective_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: 1787650562.44519162 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650562.44519162 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940275 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787650628.42145324 seconds ×3 + 3.16sWARNros2_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 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627439 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787650630.02082753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405817 ms (missed cycles : 4).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900408 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[2026-08-25 09:37:11.539] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258953721 [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 + 6.61sINFOobjective_server_node[0;93m2026-08-25 09:37:12.258985688 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-25 09:38:06.319] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854181 ms (missed cycles : 3).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672144 ms (missed cycles : 3).[0m ×2 + 2.30sWARNros2_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 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289791 ms (missed cycles : 5).[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812951 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787650689.92544627 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787650690.53283262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.48sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-25 09:38:10.686] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423793 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_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 + 5.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.80sINFOobjective_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 ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737137 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2773 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×902 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×902 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×450 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×450 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2).[0m ×2 + 2.59sWARNros2_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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650756.39971709 seconds ×3 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787650757.03211284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOobjective_server_nodeFound path in 5 iterations (0.00549538 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787650786.00242424 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787650786.68068194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099453 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974872 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163671 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238376 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787650786.00242424 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790328 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787650786.68068194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-25 09:39:46.904] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279629 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744472 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_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 + 3.50sERRORobjective_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: 1787650829.43541718 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 4.94sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_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 + 3.50sERRORobjective_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: 1787650829.43541718 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 4.94sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1787650829.43541718 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 3.92sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650562.44519162 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650562.44519162 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844550 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501745 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-25 09:36:01.763] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139837 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 09:36:02.426] [info] Canceling active goal... ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650562.44519162 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787650563.08428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754181 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787650563.19443178 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787650563.83016443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-25 09:36:04.043] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004603 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839737 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-25 09:36:17.805] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938035 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787650579.19165301 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787650579.81291866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787650579.90305448 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787650580.54375648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 09:36:20.658] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580964 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781121 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140610 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549922 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661338 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-08-25 09:36:28.695] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985829 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059925 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_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 + 3.70sERRORobjective_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: 1787650590.93389487 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250518 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787650591.57987881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 09:36:31.774] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392226 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100922 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605695 ms (missed cycles : 7).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00295422 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.26sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Received new action goal ×2 + 0.26sINFOros2_control_node[2026-08-25 09:36:49.903] [info] Accepted new action goal ×2 + 0.69sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-25 09:36:50.335] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768999 ms (missed cycles : 6).[0m ×2 + 1.22sWARNros2_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 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986116 ms (missed cycles : 6).[0m ×2 + 3.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.18sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-08-25 09:36:52.820] [info] Accepted new action goal ×2 + 3.28sINFOobjective_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 + 3.28sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-08-25 09:36:52.927] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1787650612.93168807 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.495118 ms (missed cycles : 7).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787650613.58774495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.15sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-25 09:36:53.791] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119882 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.988028 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229157 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245356 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789662 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159939 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787650624.98884273 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787650625.64713597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787650625.70727754 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358069 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787650626.30131888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-25 09:37:06.415] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472580 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008248 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_node[2026-08-25 09:37:13.402] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914764 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884322741 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-25 09:37:13.884351378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.54sINFOobjective_server_node[2026-08-25 09:37:14.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.091964041 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094801690 [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 + 1.59sINFOobjective_server_node[0;93m2026-08-25 09:37:14.094823097 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-08-25 09:37:14.156] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.01sINFOobjective_server_node[0;93m2026-08-25 09:37:14.517237858 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536946083 [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 + 2.03sINFOobjective_server_node[0;93m2026-08-25 09:37:14.536974038 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714957 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506812 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787650636.32174587 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384056 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787650636.99674559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-25 09:37:17.414] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971696 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672128 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2773 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×902 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×902 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×450 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×450 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183012 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073208 ms (missed cycles : 2).[0m ×2 + 2.59sWARNros2_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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744887 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787650756.39971709 seconds ×3 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046477 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787650757.03211284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOobjective_server_nodeFound path in 5 iterations (0.00549538 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-25 09:39:17.298] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801079 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676340 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-25 09:39:54.110] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854609 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871217 ms (missed cycles : 3).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-25 09:39:55.974] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549414 ms (missed cycles : 4).[0m ×2 + 3.47sWARNros2_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 + 3.64sINFOobjective_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 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.930] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-08-25 09:39:56.931] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787650796.94567752 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787650797.60802317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322719 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 09:39:57.781] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050911 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048749 ms (missed cycles : 2).[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 2.775957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775957 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805707 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344673 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484487 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_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 + 3.77sERRORobjective_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: 1787650807.92843652 seconds ×3 + 3.80sWARNros2_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414044 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787650808.54989982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.69sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-25 09:40:08.845] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120229 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139789 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714764 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714764 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417678 ms (missed cycles : 6).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851757 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787650818.44463396 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787650819.04515123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 09:40:19.179] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914818 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510072 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_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 + 3.50sERRORobjective_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: 1787650829.43541718 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 4.94sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1787650829.43541718 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 3.92sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839835 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957811 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222072 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_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 + 2.48sERRORobjective_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: 1787650829.43541718 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787650830.07993054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192032 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787650830.15005684 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787650830.74691701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787650830.76900387 seconds ×3 + 3.92sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701543 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787650831.48205471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-25 09:40:31.606] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155984 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942586 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 3.48sERRORobjective_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: 1787650841.93642950 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_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 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253421 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708517 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796739 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824838 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-25 09:40:41.932] [info] Canceling active goal... ×2 + 3.48sERRORobjective_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: 1787650841.93642950 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650842.53323936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214497 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_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 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650843.22336364 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931621 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787650843.82610798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787650843.82861471 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787650844.56725359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787650844.56782579 seconds ×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 | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.0s | 43 warnings · 623 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/2026-08-25-09-35-37-820312-0ceff5ec2db9-8870 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984991 ms (missed cycles : 2). + 2.08sINFOros2_control_node-1process started with pid [8918] ×2 + 2.08sINFOmove_group-9process started with pid [8955] ×2 + 2.08sINFOparameter_manager_node-10process started with pid [8956] ×2 + 2.08sINFOwaypoint_manager_node-11process started with pid [8957] ×2 + 2.08sINFOmove_joint_resampler_node-12process started with pid [8958] ×2 + 2.08sINFOmove_end_effector_resampler_node-13process started with pid [8959] ×2 + 2.08sINFOobjective_server_node_main-14process started with pid [8960] ×2 + 2.08sINFOcomponent_container_mt-15process started with pid [8961] ×2 + 2.08sINFOcomponent_container_mt-16process started with pid [8962] ×2 + 2.08sINFOexecute_objective_bridge-17process started with pid [8963] ×2 + 2.08sINFOui_teleop_bridge-18process started with pid [8964] ×2 + 2.08sINFOweb_bridge-19process started with pid [8965] ×2 + 2.08sINFOtf2_web_republisher_node-20process started with pid [9029] ×2 + 2.08sINFOvideo_server-21process started with pid [9030] ×2 + 2.08sINFOweb_bridge_auth_proxy-22process started with pid [9031] ×2 + 2.08sINFOweb_video_auth_proxy-23process started with pid [9032] ×2 + 2.10sINFOros2-2process started with pid [8919] ×2 + 2.10sINFOros2-3process started with pid [8920] ×2 + 2.10sINFOros2-4process started with pid [8921] ×2 + 2.10sINFOros2-5process started with pid [8922] ×2 + 2.10sINFOros2-6process started with pid [8923] ×2 + 2.10sINFOros2-7process started with pid [8924] ×2 + 2.10sINFOros2-8process started with pid [8925] ×2 + 2.12sINFOcontroller_managerReceived robot description from topic. + 2.12sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.13sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.15sWARNros2_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 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984991 ms (missed cycles : 2).[0m ×2 + 2.15sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF configuration loaded from /tmp/moveit-webrtc-dhehljhr/mediamtx.yml ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.99sINFOmove_group[2026-08-25 09:35:41.566] [moveit_pro_license] [info] ×2 + 2.99sINFOmove_group************************************************* ×4 + 2.99sINFOmove_group* MoveIt Pro License ×2 + 2.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821868 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821868 ms (missed cycles : 3).[0m ×2 + 3.30sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.30sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.30sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.30sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.34sINFOros2_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 + 3.35sINFOros2_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 + 3.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.54sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.54sINFOwaypoint_manager_node[2026-08-25 09:35:42.114] [moveit_pro_license] [info] ×2 + 3.54sINFOwaypoint_manager_node************************************************* ×4 + 3.54sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.54sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.69sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.82sINFOmove_group ×4 + 3.82sINFOmove_group[92mYou can start planning now![0m ×2 + 3.84sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.85sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656038 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656038 ms (missed cycles : 3).[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.22sINFOobjective_server_node[2026-08-25 09:35:43.793] [moveit_pro_license] [info] ×2 + 5.22sINFOobjective_server_node************************************************* ×4 + 5.22sINFOobjective_server_node* MoveIt Pro License ×2 + 5.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.34sINFOobjective_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 + 5.34sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.35sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.35sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.61sINFOcomponent_container_mt[2026-08-25 09:35:44.183] [moveit_pro_license] [info] ×2 + 5.61sINFOcomponent_container_mt************************************************* ×4 + 5.61sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.66sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.66sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.66sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.66sWARNros2_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 + 5.67sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.67sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.67sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.67sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.67sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.67sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.67sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.74sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.74sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 5.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 5.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.87sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.87sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.87sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 5.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 5.88sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793227 ms (missed cycles : 3). + 5.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793227 ms (missed cycles : 3).[0m ×2 + 5.88sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.88sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.90sWARNobjective_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 + 6.18sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.18sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.18sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.20sINFOros2-3process has finished cleanly [pid 8920] ×2 + 6.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 6.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 6.32sINFOros2_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 + 6.32sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.32sWARNros2_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 + 6.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.34sINFOros2_control_node[2026-08-25 09:35:44.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.35sINFOros2_control_node[2026-08-25 09:35:44.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.37sINFOros2_control_node[2026-08-25 09:35:44.943] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.37sINFOros2_control_node[2026-08-25 09:35:44.943] [info] Controller state will be published at 50 Hz. ×2 + 6.37sINFOros2_control_node[2026-08-25 09:35:44.949] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.69sINFOros2-6process has finished cleanly [pid 8923] ×2 + 6.72sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 6.72sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 6.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.79sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 6.79sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 7.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.17sINFOros2-7process has finished cleanly [pid 8924] ×2 + 7.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 7.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 7.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.25sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.28sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 7.28sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 7.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 7.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 7.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 7.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 7.60sINFOros2-8process has finished cleanly [pid 8925] ×2 + 7.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.62sINFOforce_torque_sensor_broadcasterconfigure successful + 7.62sINFOros2_control_nodeconfigure successful[0m ×2 + 7.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 7.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 7.94sINFOros2-2process has finished cleanly [pid 8919] ×2 + 7.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 8.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 8.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 8.31sINFOros2-4process has finished cleanly [pid 8921] ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 8.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.69sINFOros2-5process has finished cleanly [pid 8922] ×2 + 8.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 9.78sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 9.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 10.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 11.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.49sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.56sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.56sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.57sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.77sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.49sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOforce_torque_sensor_broadcasterconfigure successful + 0.52sINFOros2_control_nodeconfigure successful[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.86sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.86sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.27sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.27sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.27sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.28sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.28sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.58sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_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 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.48sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.49sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.56sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.56sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.57sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.77sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.95sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.97sINFOforce_torque_sensor_broadcasterconfigure successful + 0.97sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.66sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 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 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 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/2026-08-25-09-35-37-820312-0ceff5ec2db9-8870 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984991 ms (missed cycles : 2). + 2.08sINFOros2_control_node-1process started with pid [8918] ×2 + 2.08sINFOmove_group-9process started with pid [8955] ×2 + 2.08sINFOparameter_manager_node-10process started with pid [8956] ×2 + 2.08sINFOwaypoint_manager_node-11process started with pid [8957] ×2 + 2.08sINFOmove_joint_resampler_node-12process started with pid [8958] ×2 + 2.08sINFOmove_end_effector_resampler_node-13process started with pid [8959] ×2 + 2.08sINFOobjective_server_node_main-14process started with pid [8960] ×2 + 2.08sINFOcomponent_container_mt-15process started with pid [8961] ×2 + 2.08sINFOcomponent_container_mt-16process started with pid [8962] ×2 + 2.08sINFOexecute_objective_bridge-17process started with pid [8963] ×2 + 2.08sINFOui_teleop_bridge-18process started with pid [8964] ×2 + 2.08sINFOweb_bridge-19process started with pid [8965] ×2 + 2.08sINFOtf2_web_republisher_node-20process started with pid [9029] ×2 + 2.08sINFOvideo_server-21process started with pid [9030] ×2 + 2.08sINFOweb_bridge_auth_proxy-22process started with pid [9031] ×2 + 2.08sINFOweb_video_auth_proxy-23process started with pid [9032] ×2 + 2.10sINFOros2-2process started with pid [8919] ×2 + 2.10sINFOros2-3process started with pid [8920] ×2 + 2.10sINFOros2-4process started with pid [8921] ×2 + 2.10sINFOros2-5process started with pid [8922] ×2 + 2.10sINFOros2-6process started with pid [8923] ×2 + 2.10sINFOros2-7process started with pid [8924] ×2 + 2.10sINFOros2-8process started with pid [8925] ×2 + 2.12sINFOcontroller_managerReceived robot description from topic. + 2.12sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.13sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.15sWARNros2_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 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984991 ms (missed cycles : 2).[0m ×2 + 2.15sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF configuration loaded from /tmp/moveit-webrtc-dhehljhr/mediamtx.yml ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.63sINFOvideo_server2026/08/25 09:35:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.49sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOforce_torque_sensor_broadcasterconfigure successful + 0.52sINFOros2_control_nodeconfigure successful[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.86sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.86sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.20sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.27sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.27sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.27sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.28sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.28sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.58sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_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 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.48sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.95sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.97sINFOforce_torque_sensor_broadcasterconfigure successful + 0.97sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.66sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 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 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.368] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-25 09:35:45.369] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534874 ms (missed cycles : 5).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.857] [info] Controller state will be published at 20 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-25 09:35:45.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 0.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.95sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.97sINFOforce_torque_sensor_broadcasterconfigure successful + 0.97sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650546.82012916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650546.83039451 seconds ×3 + 1.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 + 1.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mdaid69c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_t962pvw7 --params-file /tmp/launch_params_z556xcm3 [0m ×2 + 1.66sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996606 ms (missed cycles : 3).[0m ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 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 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 227 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 + 7.00sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875520 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875520 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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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 | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[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 | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8922] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787650547.42375159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360629 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787650548.48388958 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853797 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787650549.09900999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787650549.15917253 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650549.81650877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650549.83674788 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664410 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650550.54169011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650550.69499803 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929090 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650551.36344290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650551.40357685 seconds ×3 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787650552.00628352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.5766e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-25 09:35:52.162] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243784 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809107 ms (missed cycles : 2).[0m ×2 | ||||