117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.8s
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 | 163 warnings · 19944 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 ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 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 (4.32e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787824335.88443804 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787824336.51310611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.49sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7).[0m ×2 + 5.76sINFOobjective_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 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870239 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870239 ms (missed cycles : 2).[0m ×2 + 7.98sINFOjoint_trajectory_controllerReceived new action goal ×3282 + 7.98sINFOjoint_trajectory_controllerAccepted new action goal ×3282 + 7.98sINFOros2_control_nodeReceived new action goal[0m ×6564 + 7.98sINFOros2_control_nodeAccepted new action goal[0m ×6564 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485077 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485077 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211097 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211097 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733525 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733525 ms (missed cycles : 2).[0m ×2 + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894453 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894453 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828554 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828554 ms (missed cycles : 2).[0m ×2 + 12.83sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.83sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.83sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832560 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832560 ms (missed cycles : 2).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627695 ms (missed cycles : 4). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627695 ms (missed cycles : 4).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103751 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103751 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189527 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189527 ms (missed cycles : 2).[0m ×2 + 17.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647410 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647410 ms (missed cycles : 2).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371238 ms (missed cycles : 3). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371238 ms (missed cycles : 3).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975533 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975533 ms (missed cycles : 2).[0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738076 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738076 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164634 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164634 ms (missed cycles : 3).[0m ×2 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846990 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846990 ms (missed cycles : 2).[0m ×2 + 24.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768234 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768234 ms (missed cycles : 2).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300320 ms (missed cycles : 2). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300320 ms (missed cycles : 2).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230991 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230991 ms (missed cycles : 2).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716118 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716118 ms (missed cycles : 2).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091126 ms (missed cycles : 4). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091126 ms (missed cycles : 4).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990675 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990675 ms (missed cycles : 2).[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628515 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628515 ms (missed cycles : 2).[0m ×2 + 31.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269516 ms (missed cycles : 3). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269516 ms (missed cycles : 3).[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216735 ms (missed cycles : 2). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216735 ms (missed cycles : 2).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402589 ms (missed cycles : 4). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402589 ms (missed cycles : 4).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697230 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697230 ms (missed cycles : 2).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170826 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170826 ms (missed cycles : 2).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035725 ms (missed cycles : 3). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035725 ms (missed cycles : 3).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050185 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050185 ms (missed cycles : 2).[0m ×2 + 37.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878199 ms (missed cycles : 2). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878199 ms (missed cycles : 2).[0m ×2 + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931460 ms (missed cycles : 2). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931460 ms (missed cycles : 2).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589012 ms (missed cycles : 3).[0m ×2 + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069407 ms (missed cycles : 2). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069407 ms (missed cycles : 2).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916331 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916331 ms (missed cycles : 2).[0m ×2 + 43.34sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817859 ms (missed cycles : 2). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817859 ms (missed cycles : 2).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689076 ms (missed cycles : 2). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689076 ms (missed cycles : 2).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835266 ms (missed cycles : 4). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835266 ms (missed cycles : 4).[0m ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176367 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176367 ms (missed cycles : 3).[0m ×2 + 48.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824380.28843021 seconds ×3 + 48.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 48.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787824380.92349744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.82sINFOobjective_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 + 48.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.91sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 48.92sINFOros2_control_node[2026-08-27 09:53:01.077] [info] Received new action goal ×2 + 48.92sINFOros2_control_node[2026-08-27 09:53:01.077] [info] Accepted new action goal ×2 + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523775 ms (missed cycles : 3). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523775 ms (missed cycles : 3).[0m ×2 + 49.79sWARNros2_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 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591039 ms (missed cycles : 6). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591039 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 154 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754208 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754208 ms (missed cycles : 5).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.12sINFOros2_control_node[2026-08-27 09:51:25.102] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-08-27 09:51:25.102] [info] Accepted new action goal ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512763 ms (missed cycles : 6). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512763 ms (missed cycles : 6).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122399 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122399 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903072 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903072 ms (missed cycles : 3).[0m ×2 + 10.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 10.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.31sINFOros2_control_node[2026-08-27 09:51:28.291] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-08-27 09:51:28.291] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542962 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542962 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979084 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979084 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123707 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123707 ms (missed cycles : 2).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.34sINFOros2_control_node[2026-08-27 09:51:31.324] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-08-27 09:51:31.324] [info] Accepted new action goal ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895864 ms (missed cycles : 5). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895864 ms (missed cycles : 5).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855164 ms (missed cycles : 5). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855164 ms (missed cycles : 5).[0m ×2 + 16.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966432 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966432 ms (missed cycles : 2).[0m ×2 + 16.30sINFOobjective_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 + 16.30sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.30sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194983 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194983 ms (missed cycles : 2).[0m ×2 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165660 ms (missed cycles : 4). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165660 ms (missed cycles : 4).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492983 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492983 ms (missed cycles : 3).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372009 ms (missed cycles : 7). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372009 ms (missed cycles : 7).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776162 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776162 ms (missed cycles : 2).[0m ×2 + 23.09sINFOobjective_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 + 23.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.09sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.10sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.10sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.10sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807172 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807172 ms (missed cycles : 2).[0m ×2 + 23.98sINFOros2_control_node[2026-08-27 09:51:41.960] [info] Received new action goal ×2 + 23.98sINFOros2_control_node[2026-08-27 09:51:41.960] [info] Accepted new action goal ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472323 ms (missed cycles : 3). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472323 ms (missed cycles : 3).[0m ×2 + 25.15sINFOobjective_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 + 25.16sINFOobjective_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 + 25.44sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 25.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.49sINFOros2_control_node[2026-08-27 09:51:43.473] [info] Received new action goal ×2 + 25.49sINFOros2_control_node[2026-08-27 09:51:43.473] [info] Accepted new action goal ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400530 ms (missed cycles : 3). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400530 ms (missed cycles : 3).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876845 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876845 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377676 ms (missed cycles : 3). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377676 ms (missed cycles : 3).[0m ×2 + 27.62sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 27.62sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.64sINFOros2_control_node[2026-08-27 09:51:45.622] [info] Received new action goal ×2 + 27.64sINFOros2_control_node[2026-08-27 09:51:45.622] [info] Accepted new action goal ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812074 ms (missed cycles : 2). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812074 ms (missed cycles : 2).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.077167 ms (missed cycles : 7). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.077167 ms (missed cycles : 7).[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.880019 ms (missed cycles : 6). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.880019 ms (missed cycles : 6).[0m ×2 + 30.68sINFOros2_control_node[2026-08-27 09:51:48.663] [info] Received new action goal ×2 + 30.68sINFOros2_control_node[2026-08-27 09:51:48.663] [info] Accepted new action goal ×2 + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390233 ms (missed cycles : 2). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390233 ms (missed cycles : 2).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560237 ms (missed cycles : 3). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560237 ms (missed cycles : 3).[0m ×2 + 33.27sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 33.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.33sINFOros2_control_node[2026-08-27 09:51:51.315] [info] Received new action goal ×2 + 33.33sINFOros2_control_node[2026-08-27 09:51:51.315] [info] Accepted new action goal ×2 + 33.92sWARNros2_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 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615426 ms (missed cycles : 3). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615426 ms (missed cycles : 3).[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933327 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933327 ms (missed cycles : 2).[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028223 ms (missed cycles : 4). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028223 ms (missed cycles : 4).[0m ×2 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157330 ms (missed cycles : 2). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157330 ms (missed cycles : 2).[0m ×2 + 37.51sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873250 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873250 ms (missed cycles : 3).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971291 ms (missed cycles : 5). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971291 ms (missed cycles : 5).[0m ×2 + 40.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695779 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695779 ms (missed cycles : 2).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871853 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871853 ms (missed cycles : 3).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886612 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886612 ms (missed cycles : 2).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051324 ms (missed cycles : 5). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051324 ms (missed cycles : 5).[0m ×2 + 44.01sINFOros2_control_node[2026-08-27 09:52:01.990] [info] Received new action goal ×2 + 44.01sINFOros2_control_node[2026-08-27 09:52:01.990] [info] Accepted new action goal ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201967 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201967 ms (missed cycles : 2).[0m ×2 + 45.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787824323.14708638 seconds ×3 + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.405641 ms (missed cycles : 8). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.405641 ms (missed cycles : 8).[0m ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733818 ms (missed cycles : 5). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733818 ms (missed cycles : 5).[0m ×2 + 46.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787824324.94422483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544271 ms (missed cycles : 4). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544271 ms (missed cycles : 4).[0m ×2 + 48.13sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 48.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.17sINFOros2_control_node[2026-08-27 09:52:06.159] [info] Received new action goal ×2 + 48.17sINFOros2_control_node[2026-08-27 09:52:06.159] [info] Accepted new action goal ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190107 ms (missed cycles : 4). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190107 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.1s | 122 warnings · 2747 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824402.40669250 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787824403.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00634221 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742329 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742329 ms (missed cycles : 5).[0m ×2 + 8.20sWARNros2_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 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910550 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910550 ms (missed cycles : 3).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283184 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283184 ms (missed cycles : 3).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951822 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951822 ms (missed cycles : 2).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926160 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926160 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875759 ms (missed cycles : 5). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.875759 ms (missed cycles : 5).[0m ×2 + 13.46sWARNros2_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 ×4 + 14.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395884 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395884 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015262 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015262 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156901 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156901 ms (missed cycles : 2).[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420402 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420402 ms (missed cycles : 2).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.540845 ms (missed cycles : 6). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.540845 ms (missed cycles : 6).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730462 ms (missed cycles : 5). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730462 ms (missed cycles : 5).[0m ×2 + 20.90sINFOobjective_server_nodeFound path in 4 iterations (0.00470381 s). ×2 + 20.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 21.03sINFOobjective_server_nodeFound path in 17 iterations (0.00703716 s). ×2 + 21.11sINFOobjective_server_nodePath shortcutter: [X__________________________________X__________________________________________X] ×2 + 21.15sINFOobjective_server_nodeFound path in 2 iterations (0.00521175 s). ×2 + 21.20sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 21.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 21.27sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 21.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 1 iterations (0.00453238 s). ×2 + 21.41sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756215 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756215 ms (missed cycles : 2).[0m ×2 + 21.44sINFOobjective_server_nodeFound path in 12 iterations (0.00544335 s). ×2 + 21.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 21.54sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 21.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________X] ×2 + 21.63sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 21.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.70sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 21.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________XX] ×2 + 21.86sINFOobjective_server_nodeFound path in 4 iterations (0.0033044 s). ×2 + 21.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 22.00sINFOobjective_server_nodeFound path in 1 iterations (0.00654991 s). ×2 + 22.10sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 22.12sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 22.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 22.23sINFOobjective_server_nodeFound path in 26 iterations (0.015609 s). ×2 + 22.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________________X] ×2 + 22.39sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177777 ms (missed cycles : 4). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177777 ms (missed cycles : 4).[0m ×2 + 22.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] ×2 + 22.61sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 22.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 23.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 23.08sINFOros2_control_node[2026-08-27 09:53:41.509] [info] Received new action goal ×2 + 23.09sINFOros2_control_node[2026-08-27 09:53:41.509] [info] Accepted new action goal ×2 + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519151 ms (missed cycles : 3). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519151 ms (missed cycles : 3).[0m ×2 + 24.28sWARNros2_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 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335823 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335823 ms (missed cycles : 2).[0m ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882390 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882390 ms (missed cycles : 2).[0m ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851233 ms (missed cycles : 5). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851233 ms (missed cycles : 5).[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641796 ms (missed cycles : 4). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641796 ms (missed cycles : 4).[0m ×2 + 28.09sINFOros2_control_node[2026-08-27 09:53:46.512] [info] Received new action goal ×2 + 28.09sINFOros2_control_node[2026-08-27 09:53:46.512] [info] Accepted new action goal ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069917 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069917 ms (missed cycles : 3).[0m ×2 + 29.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 29.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.67sINFOros2_control_node[2026-08-27 09:53:48.095] [info] Received new action goal ×2 + 29.67sINFOros2_control_node[2026-08-27 09:53:48.095] [info] Accepted new action goal ×2 + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452284 ms (missed cycles : 3). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452284 ms (missed cycles : 3).[0m ×2 + 30.88sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.91sINFOros2_control_node[2026-08-27 09:53:49.336] [info] Received new action goal ×2 + 30.91sINFOros2_control_node[2026-08-27 09:53:49.336] [info] Accepted new action goal ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433246 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433246 ms (missed cycles : 3).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2).[0m ×2 + 35.29sWARNros2_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 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2).[0m ×2 + 36.09sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787824434.51116776 seconds ×3 + 36.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787824435.19835401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5).[0m ×2 + 37.01sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 37.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 37.02sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Received new action goal ×2 + 37.02sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Accepted new action goal ×2 + 37.07sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 14270 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4704 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817859 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817859 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689076 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689076 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835266 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835266 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176367 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176367 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824380.28843021 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.00sINFOros2_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 ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133193 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787824380.92349744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-27 09:53:01.077] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-27 09:53:01.077] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523775 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523775 ms (missed cycles : 3).[0m ×2 + 5.64sWARNros2_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 + 6.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.07sINFOobjective_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 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591039 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591039 ms (missed cycles : 6).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850835 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850835 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.436645 ms (missed cycles : 7). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.436645 ms (missed cycles : 7).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541889 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541889 ms (missed cycles : 4).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955918 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955918 ms (missed cycles : 2).[0m ×2 + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048555 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048555 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133590 ms (missed cycles : 5). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133590 ms (missed cycles : 5).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988337 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988337 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838796 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838796 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473845 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473845 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927165 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927165 ms (missed cycles : 2).[0m ×2 + 17.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000410 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000410 ms (missed cycles : 2).[0m ×2 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870517 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870517 ms (missed cycles : 2).[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821835 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821835 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952483 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952483 ms (missed cycles : 2).[0m ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2).[0m ×2 + 24.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2).[0m ×2 + 26.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824402.40669250 seconds ×3 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3).[0m ×2 + 26.73sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787824403.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.91sINFOobjective_server_nodeFound path in 5 iterations (0.00634221 s). ×2 + 27.00sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.02sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Received new action goal ×2 + 27.02sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Accepted new action goal ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 19.5s | 3 errors · 80 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787824203.50558996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNros2_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 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247380 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247380 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.544845 ms (missed cycles : 8). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.544845 ms (missed cycles : 8).[0m ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212109 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212109 ms (missed cycles : 4).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684645 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684645 ms (missed cycles : 2).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.069125 ms (missed cycles : 5). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.069125 ms (missed cycles : 5).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697648 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697648 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044174 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044174 ms (missed cycles : 3).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.915799 ms (missed cycles : 8). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.915799 ms (missed cycles : 8).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389157 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389157 ms (missed cycles : 2).[0m ×2 + 16.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 16.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 16.47sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 16.77sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 16.77sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 16.78sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 16.80sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 16.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 16.90sINFOobjective_server_nodeFound path in 1 iterations (0.00313304 s). ×2 + 17.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 17.16sINFOros2_control_node[2026-08-27 09:50:18.017] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-08-27 09:50:18.017] [info] Accepted new action goal ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465764 ms (missed cycles : 5). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465764 ms (missed cycles : 5).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384284 ms (missed cycles : 3). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384284 ms (missed cycles : 3).[0m ×2 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664238 ms (missed cycles : 4). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664238 ms (missed cycles : 4).[0m ×2 + 19.63sINFOros2_control_node[2026-08-27 09:50:20.490] [info] Received new action goal ×2 + 19.63sINFOros2_control_node[2026-08-27 09:50:20.490] [info] Accepted new action goal ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 21.15sWARNros2_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 + 21.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 21.49sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 21.49sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 22.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 23.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 24.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.32sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 24.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 24.34sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 24.34sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4).[0m ×2 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.58sINFOobjective_server_nodeFound path in 1 iterations (0.00320046 s). ×2 + 0.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.83sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4).[0m ×2 + 2.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.20sERRORobjective_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: 1787824257.52696705 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2).[0m ×2 + 3.65sWARNros2_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 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787824258.31123519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.18sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 ms (missed cycles : 7).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212842 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212842 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_node[2026-08-27 09:51:00.995] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-27 09:51:00.995] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478988 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478988 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959643 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959643 ms (missed cycles : 3).[0m ×2 + 9.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622568 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622568 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642372 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642372 ms (missed cycles : 5).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322322 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322322 ms (missed cycles : 5).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3).[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787824269.56476188 seconds ×3 + 15.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 16.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.67sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 16.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.68sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[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 2.886612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886612 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.59sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.59sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.59sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.59sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051324 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051324 ms (missed cycles : 5).[0m ×2 + 1.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.48sINFOros2_control_node[2026-08-27 09:52:01.990] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-27 09:52:01.990] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201967 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201967 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787824323.14708638 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.405641 ms (missed cycles : 8). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.405641 ms (missed cycles : 8).[0m ×2 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_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 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733818 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733818 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787824324.94422483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544271 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544271 ms (missed cycles : 4).[0m ×2 + 5.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.65sINFOros2_control_node[2026-08-27 09:52:06.159] [info] Received new action goal ×2 + 5.65sINFOros2_control_node[2026-08-27 09:52:06.159] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190107 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190107 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498346 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498346 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979062 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979062 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183077 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183077 ms (missed cycles : 4).[0m ×2 + 9.64sWARNros2_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 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672690 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672690 ms (missed cycles : 3).[0m ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.77sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Received new action goal ×2 + 11.77sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Accepted new action goal ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2).[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787824335.88443804 seconds ×3 + 15.37sWARNros2_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 + 16.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787824336.51310611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2).[0m ×2 + 16.13sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 16.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.13sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Received new action goal ×2 + 16.14sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Accepted new action goal ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7).[0m ×2 + 17.40sINFOobjective_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 + 17.41sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2).[0m ×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 6.185800 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 0.70sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.77sERRORobjective_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: 1787824477.99217677 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030041 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030041 ms (missed cycles : 4).[0m ×2 + 7.26sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.26sINFOros2_control_node[2026-08-27 09:54:43.484] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-08-27 09:54:43.484] [info] Accepted new action goal ×2 + 7.27sINFOros2_control_node[2026-08-27 09:54:43.484] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520518 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520518 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493073 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493073 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407142 ms (missed cycles : 6). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407142 ms (missed cycles : 6).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3).[0m ×2 + 12.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 14.28sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 14.28sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 14.28sERRORobjective_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: 1787824490.50547576 seconds ×3 + 14.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 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 6.322721 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 16.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.30sINFOobjective_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 + 16.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 17.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 57 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448348 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448348 ms (missed cycles : 6).[0m ×2 + 7.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.23sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575248 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575248 ms (missed cycles : 3).[0m ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (6.42e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 1 iterations (0.00353864 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.004328 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.51sINFOros2_control_node[2026-08-27 09:50:41.332] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-08-27 09:50:41.332] [info] Accepted new action goal ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268231 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268231 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970704 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970704 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.426921 ms (missed cycles : 6). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.426921 ms (missed cycles : 6).[0m ×2 + 10.94sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.21sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787824244.05729437 seconds ×3 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235361 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235361 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932465 ms (missed cycles : 5). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932465 ms (missed cycles : 5).[0m ×2 + 13.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985951 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985951 ms (missed cycles : 2).[0m ×2 + 14.39sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787824247.21334481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 14.61sINFOros2_control_node[2026-08-27 09:50:47.427] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-08-27 09:50:47.427] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918822 ms (missed cycles : 5). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918822 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630629 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630629 ms (missed cycles : 2).[0m ×2 + 6.42sWARNros2_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 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.99sINFOros2_control_node[2026-08-27 09:50:28.560] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-27 09:50:28.560] [info] Accepted new action goal ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223667 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223667 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014592 ms (missed cycles : 4). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014592 ms (missed cycles : 4).[0m ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 9.34sINFOros2_control_node[2026-08-27 09:50:30.908] [info] Received new action goal ×2 + 9.34sINFOros2_control_node[2026-08-27 09:50:30.908] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767406 ms (missed cycles : 5). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767406 ms (missed cycles : 5).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 11.67sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 11.69sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 11.69sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 12.36sWARNros2_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 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 13.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sERRORobjective_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: 1787824235.49636340 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 14.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.77sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ 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 6.375524 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001688 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001688 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.54sINFOros2_control_node[2026-08-27 09:49:55.757] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-08-27 09:49:55.757] [info] Accepted new action goal ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047470 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047470 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689428 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689428 ms (missed cycles : 2).[0m ×2 + 8.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438737 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438737 ms (missed cycles : 2).[0m ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 10.27sINFOros2_control_node[2026-08-27 09:49:59.493] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-08-27 09:49:59.493] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 13.58sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.60sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 13.60sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 14.27sINFOobjective_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 + 14.27sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 14.28sERRORobjective_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: 1787824203.50558996 seconds ×3 + 14.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 15.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.86sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.90sWARNros2_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 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787824434.51116776 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.73sINFOros2_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 ] ×2 + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787824435.19835401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Accepted new action goal ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155365 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155365 ms (missed cycles : 5).[0m ×2 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069867 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069867 ms (missed cycles : 2).[0m ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 1 iterations (0.00477475 s). ×2 + 8.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.14sINFOros2_control_node[2026-08-27 09:53:59.956] [info] Received new action goal ×2 + 9.14sINFOros2_control_node[2026-08-27 09:53:59.956] [info] Accepted new action goal ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635551 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635551 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 11.61sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 11.61sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 13.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.52sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 13.52sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 14.67sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 14.68sERRORobjective_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: 1787824445.50296855 seconds ×3 + 14.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 15.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 15.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.52sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 17.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ 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 4.585700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585700 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787824467.00112820 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787824467.61191082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199001 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199001 ms (missed cycles : 2).[0m ×2 + 7.74sWARNros2_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 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207234 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207234 ms (missed cycles : 4).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157444 ms (missed cycles : 4). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157444 ms (missed cycles : 4).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345878 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345878 ms (missed cycles : 3).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 14.95sINFOobjective_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 + 14.95sERRORobjective_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: 1787824477.99217677 seconds ×3 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 16.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.31sINFOobjective_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 + 16.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 17.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.13sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 17.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.15sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 17.15sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990054 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990054 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259402 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259402 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220626 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220626 ms (missed cycles : 2).[0m ×2 + 10.23sWARNros2_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 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189315 ms (missed cycles : 6). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189315 ms (missed cycles : 6).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4).[0m ×2 + 14.94sERRORobjective_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: 1787824456.49135137 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787824457.11172557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.85sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Received new action goal ×2 + 15.85sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.426921 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.426921 ms (missed cycles : 6).[0m ×2 + 0.19sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.46sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.46sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787824244.05729437 seconds ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235361 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235361 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932465 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932465 ms (missed cycles : 5).[0m ×2 + 2.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985951 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985951 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787824247.21334481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-08-27 09:50:47.427] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-08-27 09:50:47.427] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918822 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918822 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459111 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459111 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 1 iterations (0.00315606 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 1 iterations (0.00557353 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.46sWARNros2_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 + 8.52sINFOros2_control_node[2026-08-27 09:50:52.090] [info] Received new action goal ×2 + 8.52sINFOros2_control_node[2026-08-27 09:50:52.090] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950622 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950622 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147406 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147406 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4).[0m ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.33sINFOobjective_server_nodeFound path in 1 iterations (0.00320046 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.58sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Received new action goal ×2 + 11.58sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2).[0m ×2 + 11.92sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.01sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Accepted new action goal ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4).[0m ×2 + 13.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.96sERRORobjective_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: 1787824257.52696705 seconds ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2).[0m ×2 + 14.40sWARNros2_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 + 14.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787824258.31123519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 14.93sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 ms (missed cycles : 7). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 59 errors · 40 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.24sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 1.24sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 1.24sERRORobjective_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: 1787824490.50547576 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824493.85698485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824494.39709926 seconds ×3 + 5.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305044 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305044 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311624 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311624 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234069 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234069 ms (missed cycles : 4).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386860 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386860 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047273 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047273 ms (missed cycles : 2).[0m ×2 + 10.84sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.87sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_video_auth_proxy-23process has died [pid 9369, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.87sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.91sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_bridge_auth_proxy-22process has died [pid 9367, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.92sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.95sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.97sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.99sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.01sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.02sINFOvideo_server-21process has finished cleanly [pid 9360] ×2 + 11.02sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.04sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.06sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.08sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.10sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.12sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.14sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.15sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.16sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.19sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.19sINFOcontroller_managerShutdown request received.... + 11.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.19sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.19sINFOcontroller_managerShutting down the controller manager. + 11.19sINFOvideo_server2026/08/27 09:55:00 INF shutting down gracefully ×2 + 11.19sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9359] ×2 + 11.19sERRORmove_group-9process has died [pid 9285, 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_bnbdf1mp --params-file /tmp/launch_params_zazmzs_6 --params-file /tmp/launch_params_6wne6eq2 --params-file /tmp/launch_params_nbmy3gce --params-file /tmp/launch_params_6sbfdo9r --params-file /tmp/launch_params_cjcpc4u8']. ×2 + 11.19sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOvideo_server2026/08/27 09:55:00 INF [WebRTC] closing ×2 + 11.19sINFOvideo_server2026/08/27 09:55:00 INF [RTSP] closing ×2 + 11.19sINFOvideo_server2026/08/27 09:55:00 INF waiting for running hooks ×2 + 11.19sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.20sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.20sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.20sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.20sERRORmove_groupStack trace (most recent call last) in thread 9578: ×2 + 11.20sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.20sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39285c0a63, in __clone ×2 + 11.20sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3928533aa3, in ×2 + 11.20sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39287c5db3, in ×2 + 11.20sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f3928f36a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.20sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3928b57620, in rclcpp::Rate::sleep() ×2 + 11.20sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3928a99d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.20sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3928a5b087, in ×2 + 11.20sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3928794390, in __cxa_throw ×2 + 11.20sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f392877ea54, in std::terminate() ×2 + 11.20sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39287940d9, in ×2 + 11.20sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f392877eff4, in ×2 + 11.20sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39284bf8fe, in abort ×2 + 11.20sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39284dc27d, in raise ×2 + 11.20sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3928535b2c, in pthread_kill ×2 + 11.20sERRORmove_groupAborted (Signal sent by tkill() 9285 0) ×2 + 11.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.20sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.21sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.21sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.21sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.21sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.21sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.21sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.21sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.40sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.40sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.09sINFOui_teleop_bridge-18process has finished cleanly [pid 9294] ×2 + 12.11sINFOexecute_objective_bridge-17process has finished cleanly [pid 9293] ×2 + 12.12sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9289] ×2 + 12.13sINFOcomponent_container_mt-16process has finished cleanly [pid 9292] ×2 + 12.15sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9288] ×2 + 12.19sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.20sINFOwaypoint_manager_node-11process has finished cleanly [pid 9287] ×2 + 12.22sINFOparameter_manager_node-10process has finished cleanly [pid 9286] ×2 + 12.33sINFOobjective_server_node[0;m[2026-08-27 09:55:01.592] [moveit_pro_license] [info] ×2 + 12.33sINFOobjective_server_node************************************************* ×4 + 12.33sINFOobjective_server_node* MoveIt Pro License ×2 + 12.33sINFOobjective_server_node* Application has successfully terminated ×2 + 12.77sINFOobjective_server_node_main-14process has finished cleanly [pid 9290] ×2 + 12.77sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.24sINFOcomponent_container_mt-15process has finished cleanly [pid 9291] ×2 + 13.25sINFOweb_bridge-19process has finished cleanly [pid 9295] ×2 + 13.25sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.83sINFOros2_control_node-1process has finished cleanly [pid 9248] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 52 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sERRORobjective_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: 1787824456.49135137 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787824457.11172557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.07sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3).[0m ×2 + 4.67sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774368 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774368 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.754462 ms (missed cycles : 6). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.754462 ms (missed cycles : 6).[0m ×2 + 8.08sINFOros2_control_node[2026-08-27 09:54:21.415] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-08-27 09:54:21.415] [info] Accepted new action goal ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725554 ms (missed cycles : 5). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725554 ms (missed cycles : 5).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585700 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585700 ms (missed cycles : 3).[0m ×2 + 10.68sWARNros2_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 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5).[0m ×2 + 13.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787824467.00112820 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2).[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787824467.61191082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.40sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4).[0m ×2 + 16.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.1s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_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 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787824273.01015997 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787824274.61062860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 5.94sINFOobjective_server_node[2026-08-27 09:51:16.161] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887670034 [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 + 6.66sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887702086 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 7.76sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 8.28sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [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 + 8.28sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.45sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.50sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 8.51sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [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 + 8.51sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.57sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 9.03sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [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 + 9.06sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 9.06sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 10.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 11.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.65sINFOobjective_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 + 11.66sINFOobjective_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 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.99sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 11.99sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[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 11.268618 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787824269.56476188 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787824273.01015997 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4).[0m ×2 + 7.22sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787824274.61062860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3).[0m ×2 + 8.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.77sINFOobjective_server_node[2026-08-27 09:51:16.161] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.50sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887670034 [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 + 9.50sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887702086 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 586 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.05sINFOobjective_server_node[2026-08-27 09:49:44.855] [moveit_pro_license] [info] ×2 + 0.05sINFOobjective_server_node************************************************* ×4 + 0.05sINFOobjective_server_node* MoveIt Pro License ×2 + 0.05sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.16sINFOobjective_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 + 0.16sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.18sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.33sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.34sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.66sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.66sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.66sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.66sWARNros2_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 + 0.66sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.66sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.66sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.66sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.66sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.66sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.66sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.66sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.66sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.66sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.66sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.70sINFOcomponent_container_mt[2026-08-27 09:49:45.509] [moveit_pro_license] [info] ×2 + 0.70sINFOcomponent_container_mt************************************************* ×4 + 0.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.85sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.85sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×22 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634296 ms (missed cycles : 3). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634296 ms (missed cycles : 3).[0m ×2 + 0.86sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.86sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.17sINFOros2_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 + 1.17sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.17sWARNros2_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 + 1.18sINFOros2-3process has finished cleanly [pid 9250] ×2 + 1.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.21sINFOforce_torque_sensor_broadcasterconfigure successful + 1.21sINFOros2_control_nodeconfigure successful[0m ×2 + 1.21sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.52sINFOros2-2process has finished cleanly [pid 9249] ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.79sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 2.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.10sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.10sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.10sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.13sINFOros2-8process has finished cleanly [pid 9255] ×2 + 2.16sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.18sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 2.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 2.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.25sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.57sINFOros2-7process has finished cleanly [pid 9254] ×2 + 2.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.65sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 2.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 2.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.70sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.70sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.70sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.70sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.72sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.72sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 2.73sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 3.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 3.07sINFOros2-6process has finished cleanly [pid 9253] ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 3.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.11sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.11sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.11sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.12sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.12sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.13sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.13sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.43sINFOros2-5process has finished cleanly [pid 9252] ×2 + 3.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 3.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOros2-4process has finished cleanly [pid 9251] ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 4.65sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 7.13sWARNros2_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 + 7.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_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 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787824490.50547576 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.48sINFOobjective_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 + 5.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824493.85698485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824494.39709926 seconds ×3 + 7.39sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4). | ||||
| ✓ 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 2.615048 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_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 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787824203.50558996 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_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 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sWARNros2_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 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 139 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[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 + 1.43sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 1.43sINFOros2_control_node[2026-08-27 09:54:50.501] [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: 1787824490.50547576 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.45sINFOobjective_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 + 3.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824493.85698485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824494.39709926 seconds ×3 + 5.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305044 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305044 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322322 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322322 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787824269.56476188 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787824273.01015997 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664238 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-08-27 09:50:20.490] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-08-27 09:50:20.490] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sWARNros2_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 + 1.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.94sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 1.94sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[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 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 448 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 9249] ×2 + 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 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOobjective_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! + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.06sINFOros2-7process has finished cleanly [pid 9254] ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 9253] ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.91sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 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 + 2.28sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.86 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: 1787824189.58256602 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 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 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 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sINFOobjective_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 + 6.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.92sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 + 7.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3).[0m ×2 + 0.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 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 3.810344 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1787824490.50547576 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.32sINFOobjective_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 + 4.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824493.85698485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824494.39709926 seconds ×3 + 6.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328548 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[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 1.956968 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787824203.50558996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sWARNros2_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 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[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 1.956968 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787824203.50558996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sWARNros2_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 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[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 1.956968 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787824203.50558996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sWARNros2_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 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790003 ms (missed cycles : 4).[0m ×2 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.58sINFOobjective_server_nodeFound path in 1 iterations (0.00320046 s). ×2 + 0.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-27 09:50:55.149] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786593 ms (missed cycles : 2).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-27 09:50:55.581] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130128 ms (missed cycles : 4).[0m ×2 + 2.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.20sERRORobjective_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: 1787824257.52696705 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546627 ms (missed cycles : 2).[0m ×2 + 3.65sWARNros2_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 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787824258.31123519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.18sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-27 09:50:58.505] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775356 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290956 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 7.322322 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322322 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.268618 ms (missed cycles : 7).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448942 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979667 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787824269.56476188 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[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 ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 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 (4.32e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-27 09:52:12.280] [info] Accepted new action goal ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986943 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170977 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114271 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436765 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787824335.88443804 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787824336.51310611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733702 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-27 09:52:16.647] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037757 ms (missed cycles : 7).[0m ×2 + 5.76sINFOobjective_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 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516645 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585700 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189071 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034123 ms (missed cycles : 5).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635498 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787824467.00112820 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283053 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787824467.61191082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-27 09:54:27.736] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111173 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382621 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_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 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787824490.50547576 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.48sINFOobjective_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 + 5.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854808 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663501 ms (missed cycles : 3).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810344 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122067 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_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 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-27 09:54:50.501] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787824490.50547576 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824491.11113548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322721 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824491.92125511 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011928 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787824492.52390075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.48sINFOobjective_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 + 5.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787824492.52638507 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787824493.25422978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787824493.25469017 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974395 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_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 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787824203.50558996 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_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 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sWARNros2_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 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[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 2.615048 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615048 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_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 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1787824203.50558996 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_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 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sWARNros2_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 + 4.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[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 1.956968 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956968 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911441 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (6.63e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-27 09:50:02.823] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702301 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-27 09:50:03.489] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787824203.50558996 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sWARNros2_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 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787824204.14757943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787824204.25769210 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101805 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787824204.88331103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-27 09:50:05.078] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222684 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598969 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[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 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:50:22.347] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311668 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038091 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787824223.73348403 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787824224.34719348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787824224.42730737 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253802 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787824225.07623386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.200] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-27 09:50:25.201] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011846 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662457 ms (missed cycles : 4).[0m ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.43sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-08-27 09:50:33.257] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428220 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569107 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787824235.49636340 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688672 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787824236.13532448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 09:50:36.339] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418448 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023325 ms (missed cycles : 4).[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: 1787824270.22359276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_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 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787824270.29372501 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076809 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787824270.89002657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-27 09:51:11.004] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931194 ms (missed cycles : 2).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675668 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787824273.01015997 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148268 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787824274.61062860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997760 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666733 ms (missed cycles : 3).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.94sINFOobjective_server_node[2026-08-27 09:51:16.161] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887670034 [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 + 6.66sINFOobjective_server_node[0;93m2026-08-27 09:51:16.887702086 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293611 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3). + 0.00sINFOobjective_server_node[2026-08-27 09:51:17.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621227 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501284307 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-27 09:51:18.501341714 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-08-27 09:51:18.676] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.74sINFOobjective_server_node[0;93m2026-08-27 09:51:18.725878662 [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 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730412095 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-27 09:51:18.730440835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.81sINFOobjective_server_node[2026-08-27 09:51:18.797] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179454 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-27 09:51:19.250292721 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281696899 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-27 09:51:19.281729625 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438460 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787824281.10214972 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786211 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787824281.79689527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 09:51:22.214] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949411 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478748 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2601 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824402.40669250 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787824403.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00634221 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2601 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076401 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495316 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517682 ms (missed cycles : 2).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992963 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787824402.40669250 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787824403.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00634221 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-27 09:53:23.327] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091459 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680317 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_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 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787824434.51116776 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_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 ] + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787824435.19835401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Accepted new action goal ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867849 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914565 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950086 ms (missed cycles : 2).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_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 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036892 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787824434.51116776 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_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 ] + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787824435.19835401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088256 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-27 09:53:55.446] [info] Accepted new action goal ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861438 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.300835 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039660 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-27 09:54:02.427] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584763 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279517 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-08-27 09:54:04.342] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658751 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-27 09:54:05.488] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1787824445.50296855 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182001 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787824446.17082787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-27 09:54:06.344] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477030 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051853 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776023 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326797 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999983 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sERRORobjective_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: 1787824456.49135137 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259190 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787824457.11172557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.07sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 09:54:17.407] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683146 ms (missed cycles : 3).[0m ×2 + 4.67sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832737 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494668 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1787824477.99217677 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 0.70sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_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 + 1.77sERRORobjective_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: 1787824477.99217677 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 0.70sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_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 + 1.77sERRORobjective_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: 1787824477.99217677 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185800 ms (missed cycles : 4).[0m ×2 + 0.70sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008155 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_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 + 1.77sERRORobjective_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: 1787824477.99217677 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801421 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787824478.64505100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787824478.72516537 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787824479.32205272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787824479.34533191 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449475 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787824480.06074595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-27 09:54:40.184] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726291 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046501 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
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/__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 · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.5s | 37 warnings · 644 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/2026-08-27-09-49-39-374978-61145cd82d76-9200 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.82sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.82sINFOcontroller_managerupdate rate is 600 Hz + 1.82sINFOcontroller_managerOverruns handling is : enabled + 1.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.82sWARNcontroller_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. + 1.97sINFOros2_control_node-1process started with pid [9248] ×2 + 1.97sINFOmove_group-9process started with pid [9285] ×2 + 1.98sINFOparameter_manager_node-10process started with pid [9286] ×2 + 1.98sINFOwaypoint_manager_node-11process started with pid [9287] ×2 + 1.98sINFOmove_joint_resampler_node-12process started with pid [9288] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983753 ms (missed cycles : 2). + 1.98sINFOmove_end_effector_resampler_node-13process started with pid [9289] ×2 + 1.98sINFOobjective_server_node_main-14process started with pid [9290] ×2 + 1.98sINFOcomponent_container_mt-15process started with pid [9291] ×2 + 1.98sINFOcomponent_container_mt-16process started with pid [9292] ×2 + 1.98sINFOexecute_objective_bridge-17process started with pid [9293] ×2 + 1.98sINFOui_teleop_bridge-18process started with pid [9294] ×2 + 1.99sINFOweb_bridge-19process started with pid [9295] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9359] ×2 + 1.99sINFOvideo_server-21process started with pid [9360] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [9367] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [9369] ×2 + 2.00sINFOros2-2process started with pid [9249] ×2 + 2.00sINFOros2-3process started with pid [9250] ×2 + 2.01sINFOros2-4process started with pid [9251] ×2 + 2.01sINFOros2-5process started with pid [9252] ×2 + 2.01sINFOros2-6process started with pid [9253] ×2 + 2.01sINFOros2-7process started with pid [9254] ×2 + 2.01sINFOros2-8process started with pid [9255] ×2 + 2.04sINFOcontroller_managerReceived robot description from topic. + 2.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.07sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.07sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.07sWARNros2_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 + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983753 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.08sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF configuration loaded from /tmp/moveit-webrtc-3_g6ko2t/mediamtx.yml ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.00sINFOmove_group[2026-08-27 09:49:43.120] [moveit_pro_license] [info] ×2 + 3.00sINFOmove_group************************************************* ×4 + 3.00sINFOmove_group* MoveIt Pro License ×2 + 3.00sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112489 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112489 ms (missed cycles : 4).[0m ×2 + 3.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.14sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.14sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.14sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.19sINFOros2_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 + 3.20sINFOros2_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 + 3.49sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.51sINFOwaypoint_manager_node[2026-08-27 09:49:43.632] [moveit_pro_license] [info] ×2 + 3.51sINFOwaypoint_manager_node************************************************* ×4 + 3.51sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.51sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.58sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.58sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.58sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.59sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.68sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.76sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.76sINFOmove_group ×4 + 3.76sINFOmove_group[92mYou can start planning now![0m ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.73sINFOobjective_server_node[2026-08-27 09:49:44.855] [moveit_pro_license] [info] ×2 + 4.73sINFOobjective_server_node************************************************* ×4 + 4.73sINFOobjective_server_node* MoveIt Pro License ×2 + 4.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.86sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.34sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.34sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.34sWARNros2_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 + 5.34sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.34sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.34sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.34sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.34sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.34sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.34sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.34sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.34sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.34sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.34sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.35sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.35sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.35sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.35sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.35sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.35sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.35sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.35sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.38sINFOcomponent_container_mt[2026-08-27 09:49:45.509] [moveit_pro_license] [info] ×2 + 5.38sINFOcomponent_container_mt************************************************* ×4 + 5.38sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.38sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 5.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 5.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 5.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634296 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634296 ms (missed cycles : 3).[0m ×2 + 5.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.83sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.83sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 5.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 5.85sINFOros2_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 + 5.85sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.85sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.86sINFOros2-3process has finished cleanly [pid 9250] ×2 + 5.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.88sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.89sINFOforce_torque_sensor_broadcasterconfigure successful + 5.89sINFOros2_control_nodeconfigure successful[0m ×2 + 5.89sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.89sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.20sINFOros2-2process has finished cleanly [pid 9249] ×2 + 6.20sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.20sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.21sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.21sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.39sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 6.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 6.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.47sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 6.47sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 6.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.82sINFOros2-8process has finished cleanly [pid 9255] ×2 + 6.85sWARNobjective_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 + 6.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 6.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 6.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.93sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 6.93sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 7.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 7.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 7.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 7.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 7.26sINFOros2-7process has finished cleanly [pid 9254] ×2 + 7.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 7.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 7.36sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.38sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.38sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.39sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.39sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.41sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.41sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 7.41sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 7.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 7.75sINFOros2-6process has finished cleanly [pid 9253] ×2 + 7.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 7.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.79sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.80sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.80sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 7.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 8.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.12sINFOros2-5process has finished cleanly [pid 9252] ×2 + 8.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 8.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 8.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.49sINFOros2-4process has finished cleanly [pid 9251] ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 9.34sWARNros2_control_nodeCamera render tick took 1.86 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 + 9.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 9.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 10.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 10.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 364 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.41sINFOros2-6process has finished cleanly [pid 9253] ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.83sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOros2-4process has finished cleanly [pid 9251] ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 4.48sWARNros2_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 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 24 warnings · 425 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 + 0.03sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.06sWARNobjective_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 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.12sINFOspawner_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 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 9254] ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.60sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.62sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.62sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 9253] ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.70sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 5.03sWARNros2_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 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 364 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.41sINFOros2-6process has finished cleanly [pid 9253] ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.83sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOros2-4process has finished cleanly [pid 9251] ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 4.48sWARNros2_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 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 419 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 9249] ×2 + 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 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOobjective_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! + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.06sINFOros2-7process has finished cleanly [pid 9254] ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 9253] ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.91sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 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 + 2.28sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.86 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: 1787824189.58256602 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 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 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 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 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/2026-08-27-09-49-39-374978-61145cd82d76-9200 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.82sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.82sINFOcontroller_managerupdate rate is 600 Hz + 1.82sINFOcontroller_managerOverruns handling is : enabled + 1.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.82sWARNcontroller_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. + 1.97sINFOros2_control_node-1process started with pid [9248] ×2 + 1.97sINFOmove_group-9process started with pid [9285] ×2 + 1.98sINFOparameter_manager_node-10process started with pid [9286] ×2 + 1.98sINFOwaypoint_manager_node-11process started with pid [9287] ×2 + 1.98sINFOmove_joint_resampler_node-12process started with pid [9288] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983753 ms (missed cycles : 2). + 1.98sINFOmove_end_effector_resampler_node-13process started with pid [9289] ×2 + 1.98sINFOobjective_server_node_main-14process started with pid [9290] ×2 + 1.98sINFOcomponent_container_mt-15process started with pid [9291] ×2 + 1.98sINFOcomponent_container_mt-16process started with pid [9292] ×2 + 1.98sINFOexecute_objective_bridge-17process started with pid [9293] ×2 + 1.98sINFOui_teleop_bridge-18process started with pid [9294] ×2 + 1.99sINFOweb_bridge-19process started with pid [9295] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9359] ×2 + 1.99sINFOvideo_server-21process started with pid [9360] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [9367] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [9369] ×2 + 2.00sINFOros2-2process started with pid [9249] ×2 + 2.00sINFOros2-3process started with pid [9250] ×2 + 2.01sINFOros2-4process started with pid [9251] ×2 + 2.01sINFOros2-5process started with pid [9252] ×2 + 2.01sINFOros2-6process started with pid [9253] ×2 + 2.01sINFOros2-7process started with pid [9254] ×2 + 2.01sINFOros2-8process started with pid [9255] ×2 + 2.04sINFOcontroller_managerReceived robot description from topic. + 2.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.07sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.07sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.07sWARNros2_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 + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983753 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.08sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF configuration loaded from /tmp/moveit-webrtc-3_g6ko2t/mediamtx.yml ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.38sINFOvideo_server2026/08/27 09:49:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 419 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 9249] ×2 + 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 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOobjective_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! + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.06sINFOros2-7process has finished cleanly [pid 9254] ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 9253] ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.91sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 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 + 2.28sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.86 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: 1787824189.58256602 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 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 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 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 419 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 9249] ×2 + 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 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.596] [info] Controller state will be published at 20 Hz. ×2 + 0.27sINFOros2_control_node[2026-08-27 09:49:46.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363744 ms (missed cycles : 5).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOobjective_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! + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.06sINFOros2-7process has finished cleanly [pid 9254] ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 9253] ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.91sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 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 + 2.28sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.86 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: 1787824189.58256602 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 + 3.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 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 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 24 warnings · 425 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 + 0.03sINFOros2-8process has finished cleanly [pid 9255] ×2 + 0.06sWARNobjective_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 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.12sINFOspawner_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 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-27 09:49:47.058] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-27 09:49:47.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 9254] ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.60sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-27 09:49:47.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.62sINFOros2_control_node[2026-08-27 09:49:47.532] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.62sINFOros2_control_node[2026-08-27 09:49:47.532] [info] Controller state will be published at 50 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-27 09:49:47.537] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.96sINFOros2-6process has finished cleanly [pid 9253] ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824187.90171409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824187.91189075 seconds ×3 + 1.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739399 ms (missed cycles : 2).[0m ×2 + 1.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.33sINFOros2-5process has finished cleanly [pid 9252] ×2 + 1.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 1.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.70sINFOros2-4process has finished cleanly [pid 9251] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 5.03sWARNros2_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 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 260 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 + 7.25sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001688 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001688 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 9252] ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c5frbzm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r345qh3u --params-file /tmp/launch_params_2f0i1v4z [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787824188.52241158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-4process has finished cleanly [pid 9251] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375524 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787824189.58256602 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787824190.19957376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787824190.25970960 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870726 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824190.91444492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824190.93456316 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056349 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824191.64149427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824191.79289985 seconds ×3 + 3.70sWARNros2_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 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824192.47032213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618611 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824192.51049852 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787824193.11928201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.212e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-27 09:49:53.245] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802480 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045034 ms (missed cycles : 3).[0m ×2 | ||||